Numerical evaluation of a new robotic manipulator based on inflatable joints

The aim of this paper is to present the design of a new long-range robotic arm based on an inflatable structure. Inflatable robotics has potential for improved large payload-to-weight ratios, safe collision, and inspection in areas inaccessible to human beings as in nuclear plants. The robot presented here is intended to operate inspection or maintenance missions in critical installation taking care to not collide with its environment. It is made with innovative inflatable joints and an original actuation system. Prototypes of this inflatable manipulator were constructed using two different manufacturing procedures. Using ls-dyna nonlinear dynamic finite element modeling we have numerically analyzed the specific geometry and dynamical behavior of the resulting joints. The simulations have given insight into understanding the joint bending process and have revealed guidance for optimizing the conception.

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“…19). The previous designs presented in [32] are more impacted (reduction by 70% of the maximum pitch angle) because the folds are in a flat…”

Section: Comparison Of the Design And Friction Impactmentioning

confidence: 97%

Design of a Novel Long-Range Inflatable Robotic Arm: Manufacturing and Numerical Evaluation of the Joints and Actuation

Voisembert

Mechbal

Riwan

et al. 2013

Journal of Mechanisms and Robotics

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“…Laschi et al (Giorelli et al, 2013, 2015; Giorgio‐Serchi et al, 2017; Renda et al, 2012; Renda et al, 2014) designed and developed a soft manipulator imitating octopus tentacle, which was composed of three soft actuations driven by 12 cables, as shown in Figure 4c. Voisembert et al (Palacio et al, 2017; Riwan & Voisembert, 2013; Voisembert et al, 2011, 2011, 2012, 2013) developed a long‐range inflatable robotic arm, which was in fact a whole air bad with several bending joints formed by stop‐pins or loosen wires, as shown in Figure 4d. Liang et al (S. Huang et al, 2018; Yu, Wang, Meng, Liu, et al, 2018; Yu, Wang, Meng, Lianf, 2018; Z. Zhang et al, 2018) designed a multisection tendon‐driven continuous manipulator, which was composed of a series of rigid sections and omnidirectional joints, as shown in Figure 4e.…”

Section: Research Status Of Soft Manipulatormentioning

confidence: 99%

A review of soft manipulator research, applications, and opportunities

Chen

Zhang

Huang

et al. 2021

Journal of Field Robotics

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Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to perform manipulation task under the specific drive mode inspired by the soft tissue. It is developing gradually as an important component of the soft robot. In this paper, the typical design cases of the soft manipulators as well as the related research teams are firstly investigated. The characteristics of different drive modes are compared and analyzed. Based on these investigations, the enabling technologies are systematically summarized in five aspects, such as kinematic and dynamic modeling, motion control, shape detection, dynamic tactile perception, and stiffening method. Currently, the research on soft manipulator has initially formed a technical system, although it is still in the primary stage. With the development of the soft manipulator, its overall technology maturity will be gradually improved. Currently, the applications of the soft manipulator lie mainly in the fields of the ground rescue, the underwater grabbing, the medical operation, the assist maintenance, the man–machine interaction, the space manipulation and so on. The application fields, such as origami soft manipulator, biomimetic soft microrobots, self‐healing soft robot, space soft manipulator and so on, emerge new opportunities and challenges for the soft manipulators.

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“…Voisembert and colleagues 44,45 investigated the possibility of designing a long-range robotic arm from an inflatable structure. They concentrated on the joints for which they found inspiration in spacesuits which contain bellows along the joints and thus investigated pleats integrated in the woven Dyneema fabrics with tight coating used for the inflatable structures.…”

Section: Hrimentioning

confidence: 99%

On the use of textile materials in robotics

Pyka

Jedrzejowski

Chudy

et al. 2020

Journal of Engineered Fibers and Fabrics

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Robots can be used, among a broad variety of different applications, in the textile industry to fulfill mechanically challenging tasks which common automats are not capable of. On the contrary, textile fabrics can also be integrated in robotics. Textile-based laminates can be applied as actuators; spacer fabrics can prevent robot arms from hurting men or autonomous robots from damaging themselves on difficult terrain; or as flexible sensors in soft and traditional robotics. Here, we give an overview of recent applications of textile materials in robotics and point out possible future utilization of diverse textile materials in this emerging field of research and development with increasing importance for industrial processes as well as services.

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Numerical evaluation of a new robotic manipulator based on inflatable joints

Cited by 13 publications

References 16 publications

Design of a Novel Long-Range Inflatable Robotic Arm: Manufacturing and Numerical Evaluation of the Joints and Actuation

Design of a Novel Long-Range Inflatable Robotic Arm: Manufacturing and Numerical Evaluation of the Joints and Actuation

A review of soft manipulator research, applications, and opportunities

On the use of textile materials in robotics

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