RoboHeart: A Bi-Directional Zipping Actuator

Zadeh, Mohammad Naghavi; Garrad, Martin; Romero, Christian; Conn, Andrew T.; Scarpa, Fabrizio; Rossiter, Jonathan

doi:10.1109/lra.2022.3193249

Cited by 5 publications

(3 citation statements)

References 17 publications

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“…[8] Bespoke gripper morphology tuned to unique features of the task and environment allows for a level of "behavioural niching" and heightened performance. More specialized soft gripper designs have therefore emerged in recent years (e.g., [9][10][11] ). Despite promising results, a reliance on designer intuition and manual experimental evaluation means that these design approaches have been unable to scale, both in terms of 1) the time and effort required to create a gripper for each new application, and 2) the ability to explore increasingly expansive design spaces offered by, for example, multi-material printing, where the opportunity for bespoke performance is high, if only the space could be efficiently sampled.…”

Section: Introductionmentioning

confidence: 99%

Diversity‐Based Topology Optimization of Soft Robotic Grippers

Pinskier,

Wang,

Liow

et al. 2024

Advanced Intelligent Systems

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Soft grippers are ideal for grasping delicate, deformable objects with complex geometries. Universal soft grippers have proven effective for grasping common objects, however complex objects or environments require bespoke gripper designs. Multi‐material printing presents a vast design‐space which, when coupled with an expressive computational design algorithm, can produce numerous, novel, high‐performance soft grippers. Finding high‐performing designs in challenging design spaces requires tools that combine rapid iteration, simulation accuracy, and fine‐grained optimization across a range of gripper designs to maximize performance, no current tools meet all these criteria. Herein, a diversity‐based soft gripper design framework combining generative design and topology optimization (TO) are presented. Compositional pattern‐producing networks (CPPNs) seed a diverse set of initial material distributions for the fine‐grained TO. Focusing on vacuum‐driven multi‐material soft grippers, several grasping modes (e.g. pinching, scooping) emerging without explicit prompting are demonstrated. Extensive automated experimentation with printed multi‐material grippers confirms optimized candidates exceed the grasp strength of comparable commercial designs. Grip strength, durability, and robustness is evaluated across 15,170 grasps. The combination of fine‐grained generative design, diversity‐based design processes, high‐fidelity simulation, and automated experimental evaluation represents a new paradigm for bespoke soft gripper design which is generalizable across numerous design domains, tasks, and environments.

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Section: Introductionmentioning

confidence: 99%

Diversity‐Based Topology Optimization of Soft Robotic Grippers

Pinskier,

Wang,

Liow

et al. 2024

Advanced Intelligent Systems

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“…The SMA component is typically employed in the form of a wire, strip or spring, with the former two favouring high-force applications and the latter systems requiring a large stroke output. On the other hand, the bias component can be integrated in the form of a fixed weight, springs, deformable elastic block of material, a flexing beam or even a second, opposing SMA component [16][17][18][19][20][21][22][23][24][25][26][27]. Furthermore, the actual actuation stroke/force of the actuator need not necessarily act in the same direction as the contraction of the SMA component upon heating.…”

Section: Introductionmentioning

confidence: 99%

Development and prototyping of SMA-metamaterial biaxial composite actuators

Mizzi

Hoseini

Formighieri

et al. 2023

Smart Mater. Struct.

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Shape memory alloys (SMA) are excellent candidates for implementation in actuator systems due to their ability to recover their original shape after high-strain loading through a thermally-induced phase transition. In this work, we propose and develop a novel SMA-metamaterial actuator which is capable of exhibiting a reversible, global elongation in multiple directions induced by the unidirectional contraction upon heating of a single SMA component. This actuator consists of i) an SMA component, ii) a bias component and iii) the metamaterial geometry, with each component having a distinct function: i) actuation activation, ii) reversibility of actuation upon deactivation and iii) amplifying and re-directing the uni-directional SMA actuation globally throughout the actuator, respectively. A prototype actuator was designed and tested in various configurations over multiple activation/deactivation cycles in order to demonstrate the functionality and reusability of this system. Furthermore, a theoretical model which predicts the actuation stroke of the system on the basis of the material properties of the SMA and bias components as well as the geometry of the metamaterial system was developed and validated. The findings of this work demonstrate the considerable potential of SMA-metamaterial actuators for implementation in systems requiring a multi-axial actuation output.

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“…This might increase recombination and hinder charge transport. The P max of the PV-X plus mini-modules is 74.6 mW under 100 klux, which makes it possible to realize energy autonomy for many high-voltage, low-power devices under real conditions, such as dielectric elastomer actuators. , Besides high efficiency, voltage output stability is another main concern for real applications. As shown in Figure k, the voltage output of the mini-modules under 100 klux was tracked for 60 min.…”

mentioning

confidence: 99%

Over 1000 V DC Voltage from Organic Solar Mini-Modules

Jiang,

List,

Jamali

et al. 2024

ACS Energy Lett.

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Over 1000 V DC voltage is achieved with organic solar minimodules comprising 1640 laser-structured sub-cells on an area of 3.6 × 3.7 cm 2 (active area 12.1 cm 2 ). Under 100 klux warm-white LED illumination, the device based on the absorber material PV-X plus gives an open-circuit voltage (V OC ) of 1256.6 V and a power conversion efficiency (PCE) of 19.7%, while the PM6:GS-ISO-based device shows a V OC of 1739.5 V and a PCE of 6.4%.

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RoboHeart: A Bi-Directional Zipping Actuator

Cited by 5 publications

References 17 publications

Diversity‐Based Topology Optimization of Soft Robotic Grippers

Diversity‐Based Topology Optimization of Soft Robotic Grippers

Development and prototyping of SMA-metamaterial biaxial composite actuators

Over 1000 V DC Voltage from Organic Solar Mini-Modules

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