A Soft Parallel Kinematic Mechanism
| Autor: | Edward L. White, Jennifer C. Case, Rebecca Kramer-Bottiglio |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Universal joint
0209 industrial biotechnology Holonomic Computer science Capacitive sensing Biophysics Soft robotics Mechanical engineering Stewart platform 02 engineering and technology Kinematics 021001 nanoscience & nanotechnology law.invention Mechanism (engineering) 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering law 0210 nano-technology Actuator |
| Zdroj: | Soft Robotics. 5:36-53 |
| ISSN: | 2169-5180 2169-5172 |
| DOI: | 10.1089/soro.2017.0033 |
| Popis: | In this article, we describe a novel holonomic soft robotic structure based on a parallel kinematic mechanism. The design is based on the Stewart platform, which uses six sensors and actuators to achieve full six-degree-of-freedom motion. Our design is much less complex than a traditional platform, since it replaces the 12 spherical and universal joints found in a traditional Stewart platform with a single highly deformable elastomer body and flexible actuators. This reduces the total number of parts in the system and simplifies the assembly process. Actuation is achieved through coiled-shape memory alloy actuators. State observation and feedback is accomplished through the use of capacitive elastomer strain gauges. The main structural element is an elastomer joint that provides antagonistic force. We report the response of the actuators and sensors individually, then report the response of the complete assembly. We show that the completed robotic system is able to achieve full position control, and we discuss the limitations associated with using responsive material actuators. We believe that control demonstrated on a single body in this work could be extended to chains of such bodies to create complex soft robots. |
| Databáze: | OpenAIRE |
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