Design and experiments on a continuous deformation soft manipulator module

26/01/2021

In this work it was developed and tested a soft robot with an improved torsional stiffness capable to withstand torsional loads. The design of the manipulator was based on a wave spring that allows an increment of its torsional stiffness while maintaining its capacity to extend and compress. The number of waves per level was obtained from a static and dynamic finite element analysis. With all the parameters defined the elements were modelled and 3D printed with rigid and flexible filaments. Several experimental tests were performed. The first test obtained the work volume, the second test evaluated the repeatability of the manipulator, and lastly, a static and dynamic loading test was performed. In the end three trajectories were applied to the inverse kinematics models obtained from the training of neural networks. These models can be divided into: models trained with a varied number of data points from the theoretical model; models trained also with a varied number of data but from the manipulator; and models trained with all the manipulator data but with a variable number of neurons. From this study it was possible to design a structure for a continuum soft robot able to maximize its torsional stiffness without a significant loss of compliance in the degrees of freedom where it is desirable. It was also demonstrated that a soft robot is capable to have an off-axis loaded motion while carrying at least a small but useful payload.

Autores da comunidade :

• 

  J

  João Maria Cruz Azevedo Bastos Salgueiro

  ist181462

Orientadores desta instituição:

• 

  J

  João Carlos Prata dos Reis

  ist14040

mechanical-engineering - Engenharia Mecânica

por - Português

Instituto Superior Técnico