BEND ANGLE AND CONTACT FORCE ON SOFT PNEUMATIC GRIPPER FOR GRASPING CYLINDRICAL-SHAPED DIFFERENT-SIZED OBJECTS

Venkatesan Vellaiyan,∗ Shanmugam Subramaniam,∗ and Veerappan Arunachalam∗

References

  1. [1] H. Banerjee, Z.T.H. Tse, and H. Ren, Soft robotics with compliance and adaptation for biomedical applications and forthcoming challenges, International Journal of Robotics and Automation, 33(1), 2018, 69–79.
  2. [2] K.Y. Wang, L.X. Zhang, H. Meng, et al., Mechanisms for rigid-exible gait rehabilitation robot, International Journal of Robotics and Automation, 28(4), 2013, 311–316.
  3. [3] B. Wang, A. McDaid, T. Giffney, M. Biglari-Abhari, and K.C. Aw, Design, modelling and simulation of soft grippers using new bimorph pneumatic bending actuators, Cogent Engineering, 4(1), 2017, 1–11.
  4. [4] W. Felt, Folded-tube soft pneumatic actuators for bending, Soft Robotics, 6(2), 2019, 174–183.
  5. [5] J. Li, L. Zu, G. Zhong, M. He, H. Yin, and Y. Tan, Stiffness characteristics of soft finger with embedded SMA fibers, Composite Structures, 160, 2017, 758–764.
  6. [6] N. An, M. Li, and J. Zhou, Modeling and understanding locomotion of pneumatic soft robots, Soft Materials, 16(3), 2018, 151–159.
  7. [7] C. Sun, L. Chen, J. Liu, J.S. Dai, and R. Kang, A hybrid continuum robot based on pneumatic muscles with embedded elastic rods, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 234(1), 2020, 318–328.
  8. [8] S.W. Lee, D.J. Kim, Y. Ahn, and Y.G. Chai, Simple structured polydimethylsiloxane microvalve actuated by external air pressure, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 220(8), 2006, 1283–1288.
  9. [9] D. Rus and M.T. Tolley, Design, fabrication and control of soft robots, Nature, 521(May), 2015, 467.
  10. [10] P. Moseley, J.M. Florez, H.A. Sonar, G. Agarwal, W. Curtin, and J. Paik, Modeling, design, and development of soft pneumatic actuators with finite element method, Advanced Engineering Materials, 18(6), 2016, 978–988.
  11. [11] Y. Nishioka, M. Uesu, H. Tsuboi, S. Kawamura, W. Masuda, T. Yasuda, and M. Yamano, Development of a pneumatic soft actuator with pleated inflatable structures, Advanced Robotics, 31(14), 2017, 753–762.
  12. [12] H. Huang, L. Wu, J. Lin, B. Fang, and F. Sun, A novel mode controllable hybrid valve pressure control method for soft robotic gripper, International Journal of Advanced Robotic Systems, 15(5), 2018, 1–12.
  13. [13] A. Dameitry, and H. Tsukagoshi, Lightweight pneumatic semiuniversal hand with two fingers aimed for a wide range of grasping, Advanced Robotics, 31(23–24), 2017, 1253–1266.
  14. [14] B. Mosadegh, P. Polygerinos, C. Keplinger, S. Wennstedt, R.F. Shepherd, U. Gupta, J. Shim, K. Bertoldi, C.J. Walsh, and G.M. Whitesides, Pneumatic networks for soft robotics that actuate rapidly, Advanced Functional Materials, 24(15), 2014, 2163–2170.
  15. [15] D. Saravanakumar, B. Mohan, T. Muthuramalingam, and G. Sakthivel, Performance evaluation of interconnected pneumatic cylinders positioning system, Sensors & Actuators: A. Physical, 274(1), 2018, 155–164.
  16. [16] D. Saravanakumar, B. Mohan, and T. Muthuramalingam, A review on recent research trends in servo pneumatic positioning systems, Precision Engineering, 49(1), 2017, 481–492.
  17. [17] P. Chattopadhyay and S.K. Ghoshal, Adhesion technologies of bio-inspired climbing robots: A survey, International Journal of Robotics and Automation, 33(6), 2018, 654–661. 8
  18. [18] J. Zhang, H. Guo, T. Wang, and J. Hong, The design and motion analysis of a pneumatic omnidirectional soft robot, International Journal of Robotics and Automation, 32(6), 2017, 569–576.
  19. [19] Y. Wang, J. Xiao, and X. Chen, New structure of pneumatic networks actuators for soft robotics, The Journal of Engineering, 2019(13), 2019, 273–277.
  20. [20] O. Byrne, F. Coulter, M. Glynn, J.F.X. Jones, A.N. Annaidh, E.D. O’Cearbhaill, and D.P. Holland, Additive manufacture of composite soft pneumatic actuators, Soft Robotics, 5(6), 2018, 726–736.
  21. [21] K. Elgeneidy, N. Lohse, and M. Jackson, Bending angle prediction and control of soft pneumatic actuators with embedded flex sensors – A data-driven approach, Mechatronics, 50(September 2017), 2018, 234–247.
  22. [22] S. Wakimoto, K. Suzumori, and K. Ogura, Miniature pneumatic curling rubber actuator generating bidirectional motion with one air-supply tube, Advanced Robotics, 25(9–10), 2011, 1311– 1330.
  23. [23] Z. Wang, M.Z.Q. Chen, and J. Yi, Soft robotics for engineers, HKIE Transactions Hong Kong Institution of Engineers, 22(2), 2015, 88–97.
  24. [24] P. Polygerinos, S. Lyne, Z. Wang, L.F. Nicolini, B. Mosadegh, G.M. Whitesides, and C.J. Walsh, Towards a soft pneumatic glove for hand rehabilitation, IEEE International Conference on Intelligent Robots and Systems, 2013, 1512–1517.
  25. [25] A. Al-Ibadi, S. Nefti-Meziani, and S. Davis, Design, implementation and modelling of the single and multiple extensor pneumatic muscle actuators, Systems Science and Control Engineering, 6(1), 2018, 80–89.
  26. [26] M. Wiese, G. Runge-Borchert, and A. Raatz, Optimization of neural network hyperparameters for modeling of soft pneumatic actuators, Mechanisms and Machine Science, 65, 2019, 199– 206.
  27. [27] W. Hu, R. Mutlu, W. Li, and G. Alici, A structural optimisation method for a soft pneumatic actuator, Robotics, 7(2), 2018, 1–16.
  28. [28] L. Shi, S. Guo, M. Li, S. Mao, N. Xiao, B. Gao, Z. Song, and K. Asaka, A novel soft biomimetic microrobot with two motion attitudes, Sensors (Basel, Switzerland), 12(12), 2012, 16732–16758.
  29. [29] H. Li, G. Go, S.Y. Ko, J.-O. Park, and S. Park, Magnetic actuated PH-responsive hydrogel-based soft micro-robot for targeted drug delivery, Smart Materials and Structures, 25(2), 2016, 27001.
  30. [30] E. Brown, N. Rodenberg, J. Amend, A. Mozeika, E. Steltz, M.R. Zakin, H. Lipson, and H.M. Jaeger, Universal robotic gripper based on the jamming of granular material, Proceedings of the National Academy of Sciences, 107(44), 2010, 18809– 18814.
  31. [31] K.M. de Payrebrune, and O.M. O’Reilly, On the development of rod-based models for pneumatically actuated soft robot arms: A five-parameter constitutive relation, International Journal of Solids and Structures, 120, 2017, 1339–1351.
  32. [32] Z. Wang, M. Zhu, S. Kawamura, and S. Hirai, Comparison of different soft grippers for lunch box packaging, Robotics and Biomimetics, 4(1), 2017, 1–9.
  33. [33] A. Miriyev, K. Stack, and H. Lipson, Soft material for soft actuators, Nature Communications, 8(1), 2017, 1–8.
  34. [34] Y. Liu, Z. Ge, S. Yang, I.D. Walker, and Z. Ju, Elephant’s trunk robot: An extremely versatile under-actuated continuum robot driven by a single motor, Journal of Mechanisms and Robotics, 11(5), 2019, 1–17.
  35. [35] A.D. Marchese, R.K. Katzschmann, and D. Rus, A recipe for soft fluidic elastomer robots, Soft Robotics, 2(1), 2015, 7–25.
  36. [36] K.-J. Cho, J.-S. Koh, S. Kim, W.-S. Chu, Y. Hong, and S.-H. Ahn, Review of manufacturing processes for soft biomimetic robots, International Journal of Precision Engineering and Manufacturing, 10(3), 2009, 171–181.
  37. [37] A. Zolfagharian, A.Z. Kouzani, S.Y. Khoo, A.A.A. Moghadam, I. Gibson, and A. Kaynak, Evolution of 3D printed soft actuators, Sensors and Actuators, A: Physical, 250(October), 2016, 258–272.
  38. [38] L. Ge, L. Dong, D. Wang, Q. Ge, and G. Gu, A digital light processing 3D printer for fast and high-precision fabrication of soft pneumatic actuators, Sensors and Actuators A: Physical, 273(April), 2018, 285–292.
  39. [39] W.I. Herianto, A.S. Ritonga, and A. Prastowo, Design and fabrication in the loop of soft pneumatic actuators using fused deposition modelling, Sensors and Actuators A: Physical, 298, 2019, 1–8.
  40. [40] L. Chen, C. Yang, H. Wang, D.T. Branson, J.S. Dai, and R. Kang, Design and modeling of a soft robotic surface with hyperelastic material, Mechanism and Machine Theory, 130(December), 2018, 109–122.
  41. [41] D.P. Holland et al., Soft robotics toolkit, Harvard Biodesign Lab, https://softroboticstoolkit.com/book/pneunetsdesign (accessed Jan. 15, 2017).
  42. [42] G. Alici, T. Canty, R. Mutlu, W. Hu, and V. Sencadas, Modeling and experimental evaluation of bending behavior of soft pneumatic actuators made of discrete actuation chambers, Soft Robotics, 5(1), 2018, 24–35.
  43. [43] C. Yang, R. Kang, D.T. Branson, L. Chen, and J.S. Dai, Kinematics and statics of eccentric soft bending actuators with external payloads, Mechanism and Machine Theory, 139, 2019, 526–541.

Important Links:

Go Back