Quasi-Static FEA Model for a Multi-Material Soft Pneumatic Actuator in SOFA

Ferrentino, Pasquale; Lopez-Diaz, Antonio; Terryn, Seppe; Legrand, J; Brancart, Joost; Assche, Guy Van; Vázquez, Éster; Vázquez, Andrés S.; Vanderborght, Bram

doi:10.1109/lra.2022.3183254

Cited by 4 publications

(4 citation statements)

References 31 publications

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“…The versatility of the FEA method extends beyond the use of a single material, as it allows the incorporation of layers of different soft robot materials. Ferrentino et al [102] developed a quasi-static FEA model for a multi-material soft pneumatic actuator in SOFA. The versatility of the FEA method extends beyond the use of a single material, as it allows the incorporation of layers of different soft robot materials.…”

Section: Digital Engineeringmentioning

confidence: 99%

“…The versatility of the FEA method extends beyond the use of a single material, as it allows the incorporation of layers of different soft robot materials. Ferrentino et al [102] developed a quasi-static FEA model for a multi-material soft pneumatic actuator in SOFA. SOFA, an FEA simulator, has been widely utilized in various soft robot studies, such as solid meal digestion in a soft gastric robot [103] and soft robot optimal control [104].…”

Section: Digital Engineeringmentioning

confidence: 99%

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Soft Robot Design, Manufacturing, and Operation Challenges: A Review

Ambaye,

Boldsaikhan,

Krishnan

2024

JMMP

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Advancements in smart manufacturing have embraced the adoption of soft robots for improved productivity, flexibility, and automation as well as safety in smart factories. Hence, soft robotics is seeing a significant surge in popularity by garnering considerable attention from researchers and practitioners. Bionic soft robots, which are composed of compliant materials like silicones, offer compelling solutions to manipulating delicate objects, operating in unstructured environments, and facilitating safe human–robot interactions. However, despite their numerous advantages, there are some fundamental challenges to overcome, which particularly concern motion precision and stiffness compliance in performing physical tasks that involve external forces. In this regard, enhancing the operation performance of soft robots necessitates intricate, complex structural designs, compliant multifunctional materials, and proper manufacturing methods. The objective of this literature review is to chronicle a comprehensive overview of soft robot design, manufacturing, and operation challenges in conjunction with recent advancements and future research directions for addressing these technical challenges.

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Section: Digital Engineeringmentioning

confidence: 99%

“…The versatility of the FEA method extends beyond the use of a single material, as it allows the incorporation of layers of different soft robot materials. Ferrentino et al [102] developed a quasi-static FEA model for a multi-material soft pneumatic actuator in SOFA. SOFA, an FEA simulator, has been widely utilized in various soft robot studies, such as solid meal digestion in a soft gastric robot [103] and soft robot optimal control [104].…”

Section: Digital Engineeringmentioning

confidence: 99%

Soft Robot Design, Manufacturing, and Operation Challenges: A Review

Ambaye,

Boldsaikhan,

Krishnan

2024

JMMP

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“…SOFA leverages the FEM to simulate soft bodies, which was the chosen approach in the current study. FEM relies on the geometrical representation of the soft robot model to accurately capture its behavior during simulations [12]. Furthermore, the availability of the Soft Robots plugin in SOFA ISSN: 2357-7592…”

Section: Simulation Of Continnum Manipulatormentioning

confidence: 99%

Parameter Tuning of Addictive Manufacturing Continuum Flexible Manipulator Simulation

Novaes,

Matos,

Mendes

et al. 2023

Blucher Engineering Proceedings

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This work presents the process to simulate accurately a continuum flexible manipulator produced through addictive manufacturing (AM). A manipulator is an element capable of interaction with the space around it, a common example is a rigid robotic arm. The Finite Element Method (FEM) software adopted was the SOFA framework. The tuning process consists of adjusting the simulation parameters to achieve sufficient accuracy in the manipulator movement in space. A real manipulator was used, based on known input value application, the space position was measured, and compared with the simulated version. The simulated version achieved more than 240 % of improvement as compared to the nominal material parameters. The 3D positioning for steady-state study case reached 10 % of distance error, and a parameters surface was mapped to better understand the tunning process.

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“…The first category is composed of autonomous SH polymers, in which healing occurs at ambient temperature without the aid of any external stimulus (e.g., heat or light). Most common healing mechanisms rely on hydrogen bonds, [34][35][36][37][38] π-π cross links, [39,40] or metal-ligand complexes. [41,42] However, achieving rapid healing at ambient temperature in combination with high mechanical performance and stability is a challenge yet to be solved by the self-healing materials community.…”

mentioning

confidence: 99%

Self‐Regulated Self‐Healing Robotic Gripper for Resilient and Adaptive Grasping

Wang,

Terryn,

Wang

et al. 2023

Advanced Intelligent Systems

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Flexible, soft materials are increasingly used for the fabrication of soft robots, as the inherent compliance and shock‐absorbance protect the robot from mechanical impact. Soft universal grippers take full advantage of this adaptability, facilitating effective and safe grasping of various objects. However, due to their predominantly soft material composition, these grippers have limited lifetimes, especially when operating in unstructured and unfamiliar environments. The self‐healing universal gripper (SHUG) is proposed, which can grasp various objects and recover from substantial realistic damages autonomously. It integrates damage detection, heat‐assisted healing, and healing evaluation. Notably, unlike other universal grippers, the entire SHUG can be fully reprocessed and recycled. The gripper's functionality relies on the particle jamming of steel balls enclosed within a self‐healing membrane. Thanks to the thermoreversible covalent Diels–Alder bonds in self‐healing polymer membrane, the gripper is able to recover from macroscopic damages including scratches and punctures. Temperature‐assisted healing is regulated in a closed‐loop manner using an embedded thermocouple and Joule heater. Experimental validation demonstrates the adaptability, resilience, and recyclability of the SHUG.

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Quasi-Static FEA Model for a Multi-Material Soft Pneumatic Actuator in SOFA

Cited by 4 publications

References 31 publications

Soft Robot Design, Manufacturing, and Operation Challenges: A Review

Soft Robot Design, Manufacturing, and Operation Challenges: A Review

Parameter Tuning of Addictive Manufacturing Continuum Flexible Manipulator Simulation

Self‐Regulated Self‐Healing Robotic Gripper for Resilient and Adaptive Grasping

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