Analysis and Control of Fiber-Reinforced Elastomeric Enclosures (FREEs)

12/13/2019
by   Soheil Habibian, et al.
0

While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in several ways, such as compatibility with the work environments, degrees of freedom, manufacturing costs, and safe interactions with the environment. This thesis studies the behavior of Fiber Reinforced Elastomeric Enclosures (FREEs) as a particular type of soft pneumatic actuator that can be used in soft manipulators. A dynamic lumped-parameter model is created to simulate the motion of a single FREE under various operating conditions and to inform the design of a controller. The proposed PID controller determines the response of the FREE to a defined step input or a trajectory following polynomial function, using rotation angle to control the orientation of the end-effector. Additionally, Finite Element Analysis method is employed, incorporating the inherently nonlinear material properties of FREEs, to precisely evaluate various parameters and configurations of FREEs. This tool is also used to determine the workspace of multiple FREEs in a module, which is essentially a building block of a soft robotic arm.

READ FULL TEXT

Authors

page 18

page 19

09/23/2021

A Robust Adaptive Approach to Dynamic Control of Soft Continuum Manipulators

Soft robots are made of compliant and deformable materials and can perfo...
11/16/2020

Modeling, Reduction, and Control of a Helically Actuated Inertial Soft Robotic Arm via the Koopman Operator

Soft robots promise improved safety and capability over rigid robots whe...
06/23/2022

Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing

For soft robots to work effectively in human-centered environments, they...
01/06/2022

Dynamic Control of Soft Manipulators to Perform Real-World Tasks

Dynamic motions are a key feature of robotic arms, enabling them to perf...
09/22/2021

Control of Pneumatic Artificial Muscles with SNN-based Cerebellar-like Model

Soft robotics technologies have gained growing interest in recent years,...
01/10/2021

A review paper of bio-inspired environmental adaptive and precisely maneuverable soft robots

This paper summarizes the most recent research in soft robotic field fro...
08/21/2021

A Geometric Kinematic Model for Flexible Voxel-Based Robots

Voxel-based structures provide a modular, mechanically flexible periodic...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.