Principle and Performance Analysis of Soft Continuum Robot with Large Range Variable Stiffness Based on Spherical Particles

Zhao, Yanzhi; Yu, Sophia; Guo, Kaida; Han, Longguang; Qi, Lizhe; Yu, Hongnian

doi:10.1109/cyber46603.2019.9066599

Cited by 3 publications

(3 citation statements)

References 19 publications

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“…However, the variable stiffness uses particle interference, The bending motion range is still limited, and the fluidity of particles in the particle package will affect the stability of the fixture stiffness. Yanzhi Zhao et al [19] proposed an extensive range of variable stiffness self-locking soft continuous robots based on interference phenomenon. The textile smooth rope restraint mechanism based the particle interference mechanism uses the low elasticity and high toughness of fiber, the excellent fluidity of spherical particles, and the rigidity of particles themselves.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Rigid-Flexible Coupling Characteristics of Pneumatic Modular Soft Joints with Variable Stiffness

Liu¹,

Bian²,

Ai³

et al. 2023

Preprint

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Aiming at the problem that soft robots are challenging to take into account both flexibility and bearing capacity, Using the software Pneu-Net driver as the deformation mode, magnetorheological fluid material phase transformation to achieve variable stiffness, A pneumatic modular soft joint structure with dynamically adjustable deformation and stiffness in all directions is proposed. In this paper, mathematical models of deformation and variable stiffness are established. The correspondence between gas pressure and deformation and applied current and joint stiffness is obtained. The finite element analysis method was used to simulate the deformation characteristics and variable stiffness characteristics of modular joints based on the Yeoh model. Finally, the theoretical and simulation results are verified by deformation and variable stiffness tests. It is proved that the modular joint has good rigid-flexible coupling characteristics.

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Section: Introductionmentioning

confidence: 99%

Analysis of Rigid-Flexible Coupling Characteristics of Pneumatic Modular Soft Joints with Variable Stiffness

Liu¹,

Bian²,

Ai³

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…Experimental tests showed that the gripper could change its stiffness about 25 times under positive layer jamming interference and has a higher payload capacity. Yanzhi Zhao et al [19] proposed an extensive range of variable stiffness self-locking soft continuous robots based on the interference phenomenon. The textile smooth rope restraint mechanism based on the particle interference mechanism uses the low elasticity and high toughness of fiber, the excellent fluidity of spherical particles, and the rigidity of particles themselves.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Rigid-Flexible Coupling Characteristics of Pneumatic Modular Soft Joints with Variable Stiffness

Liu

Bian

et al. 2023

Machines

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This paper proposes a new pneumatic modular joint to address the problem of balancing compliance and load-bearing capacity for soft robots. The joint possesses characteristics that allow for omnidirectional deformation and dynamically adjustable stiffness. In this study, mathematical models were established to describe the deformation and stiffness variability of the joint. Corresponding relationships between gas pressure and deformation and magnetic field strength and module stiffness were derived through numerical analysis. Finite element simulations were conducted to investigate the changes in pressure and deformation under different stiffness conditions and the changes in magnetic field strength and joint stiffness under various deformation states. Finally, experimental validation was performed to verify the theoretical calculations and simulation results, demonstrating excellent coupling characteristics between stiffness and compliance for the proposed joint.

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“…The robotics community has produced a considerable plethora of soft robot arms, from non-articulated continuum arms such as those inspired by the octopus (Mazzolai et al, 2012 ), or the elephant trunk (Hannan and Walker, 2003 ), or more recent approaches with more load-bearing capacity (Zhao et al, 2019 ); to robots with stiff links, but elastic elements connecting the links and actuators, such as those using series elastic actuators (Pratt and Williamson, 1995 ). Examples of implementations of series elastic actuators can be found in the low-cost compliant actuator developed by Quigley et al ( 2011 ), see details in Table 1 , the light industrial robot Baxter (Rethink Robotics, Boston, USA), or the intrinsically safe (for its low inertia), BioRob arm (Lens et al, 2010 ).…”

Section: Introductionmentioning

confidence: 99%

The GummiArm Project: A Replicable and Variable-Stiffness Robot Arm for Experiments on Embodied AI

et al. 2022

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Robots used in research on Embodied AI often need to physically explore the world, to fail in the process, and to develop from such experiences. Most research robots are unfortunately too stiff to safely absorb impacts, too expensive to repair if broken repeatedly, and are never operated without the red kill-switch prominently displayed. The GummiArm Project was intended to be an open-source “soft” robot arm with human-inspired tendon actuation, sufficient dexterity for simple manipulation tasks, and with an eye on enabling easy replication of robotics experiments. The arm offers variable-stiffness and damped actuation, which lowers the potential for damage, and which enables new research opportunities in Embodied AI. The arm structure is printable on hobby-grade 3D printers for ease of manufacture, exploits stretchable composite tendons for robustness to impacts, and has a repair-cycle of minutes when something does break. The material cost of the arm is less than $6000, while the full set of structural parts, the ones most likely to break, can be printed with less than $20 worth of plastic filament. All this promotes a concurrent approach to the design of “brain” and “body,” and can help increase productivity and reproducibility in Embodied AI research. In this work we describe the motivation for, and the development and application of, this 6 year project.

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Principle and Performance Analysis of Soft Continuum Robot with Large Range Variable Stiffness Based on Spherical Particles

Cited by 3 publications

References 19 publications

Analysis of Rigid-Flexible Coupling Characteristics of Pneumatic Modular Soft Joints with Variable Stiffness

Analysis of Rigid-Flexible Coupling Characteristics of Pneumatic Modular Soft Joints with Variable Stiffness

Analysis of Rigid-Flexible Coupling Characteristics of Pneumatic Modular Soft Joints with Variable Stiffness

The GummiArm Project: A Replicable and Variable-Stiffness Robot Arm for Experiments on Embodied AI

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