HEDRA: A Bio-Inspired Modular Tensegrity Soft Robot With Polyhedral Parallel Modules

11/29/2020
by   Vishal Ramadoss, et al.
0

There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight reduction. This paper proposes a new robotic mechanism based on tensegrity ('tension-integrity') robots and reconfigurable modular robots. The specific actuation schemes for this tensegrity robot with multiple degrees of freedom are presented. This article describes an easy-to-assemble 350 mm tensegrity based robot prototype by stacking a series of rigid struts linked with tensegrity joints that have no direct rigid contact with each other. The functionality of the proposed robot is validated by the experimental results by integrating the polyhedral parallel structure as its skeleton and series of tensegrity joints. The proposed manipulator is capable of reaching bending angles up to 76 degrees. An adaptive cable driven underactuated robotic gripper is designed and attached to the tensegrity manipulator for grasping objects in different shapes, weights, and sizes.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 2

page 3

page 5

page 6

03/01/2020

A Reconfigurable Hybrid Actuator with Rigid and Soft Components

Classical rigid-bodied robotic systems are presented with proven success...
11/11/2019

Parallel, Modular Fabric Actuators for a 2-DOF Pneumatic Sleeve

The shoulder is responsible for the movement of the entire upper limb. I...
06/19/2020

Distributed prediction of unsafe reconfiguration scenarios of modular-robotic Programmable Matter

We present a distributed framework for predicting whether a planned reco...
02/09/2022

Inflated Bendable Eversion Cantilever Mechanism with Inner Skeleton for Increased Payload Holding

Inflatable structures used in soft robotics applications exhibit unique ...
11/09/2020

A New 4-DOF Robot for Rehabilitation of Knee and Ankle-Foot Complex: Simulation and Experiment

Stationary robotic trainers are lower limb rehab robots which often inco...
07/07/2021

WaspL: Design of a Reconfigurable Logistic Robot for Hospital Settings

Healthcare poses diverse logistic requirements, which resulted in the de...
11/03/2021

Origami-inspired soft twisting actuator

Soft actuators have shown great advantages in compliance and morphology ...
This week in AI

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