Abstract
The purpose of this paper is to present a design of a foldable pneumatic soft manipulator. The soft manipulator is made up of three foldable pneumatic soft modules, which are stacked in series. The foldable pneumatic soft module is composed with a pneumatic actuator and an inflatable beam. The function of the pneumatic actuator is to make the directional movement, while the inflatable beam is the section with foldability. In order to get the performance of this kind of design, one of the soft modules is developed. Moreover, the pulling force of the pneumatic actuator, the bending stiffness of the inflatable beam and the pointing movement of the soft module are tested in the experiment. The concept of the foldability and extension of the soft manipulator is also validated.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Webster III, R.J., Jones, B.A.: Design and kinematic modeling of constant curvature continuum robots: a review. Int. J. Robot. Res. 29, 1661–1683 (2010)
Sanan, S.: Soft inflatable robots for safe physical human interaction. Carnegie Mellon University (2013)
Sanan, S., Lynn, P.S., Griffith, S.T.: Pneumatic torsional actuators for inflatable robots. J. Mech. Robot. 6, 031003 (2014)
Sanan, S., Ornstein, M.H., Atkeson, C.G.: Physical human interaction for an inflatable manipulator. In: 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC, pp. 7401–7404. IEEE (2011)
Rahn, C., Walker, I.: Design and experimental testing of the OctArm soft robot manipulator. In: ProcSpie, vol. 6230 (2006)
Neppalli, S., Jones, B., Mcmahan, W., Chitrakaran, V.: OctArm - a soft robotic manipulator. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, p. 2569 (2007)
Ishibashi, A., Yokota, S., Matsumoto, A., Chugo, D., Hashimoto, H.: Inflatable arm with rigidity for safe robots - 1st report: proposal of joint structure. In: IEEE International Conference on Industrial Technology (2017)
Voisembert, S., Mechbal, N., Riwan, A., Aoussat, A.: Design of a novel long-range inflatable robotic arm: manufacturing and numerical evaluation of the joints and actuation. J. Mech. Robot. 5, 045001 (2013)
Voisembert, S., Riwan, A., Mechbal, N.: Numerical evaluation of a new robotic manipulator based on inflatable joints. In: IEEE International Conference on Automation Science and Engineering, pp. 544–549 (2012)
Voisembert, S., Mechbal, N., Riwan, A., Barraco, A.: A novel inflatable tendon driven manipulator with constant volume. In: ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 1233–1242 (2011)
Deng, T., Wang, H., Chen, W., Wang, X., Pfeifer, R.: Development of a new cable-driven soft robot for cardiac ablation. In: Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China, pp. 728–733 (2013)
Wang, H., Zhang, R., Chen, W., Liang, X., Pfeifer, R.: Shape detection algorithm for soft manipulator based on fiber bragg gratings. IEEE/ASME Trans. Mechatron. 21, 2977–2982 (2016)
Thakkar, S., et al.: A novel, new robotic platform for natural orifice distal pancreatectomy. Surg. Innov. 22, 274–282 (2015)
He, L., Lou, J., Du, J., Wu, H.: Voltage-driven nonuniform axisymmetric torsion of a tubular dielectric elastomer actuator reinforced with one family of inextensible fibers. Eur. J. Mech.-A/Solids 71, 386–393 (2018)
Nguyen, C.T., Phung, H., Nguyen, T., Jung, H., Choi, H.: Multiple-degrees-of-freedom dielectric elastomer actuators for soft printable hexapod robot. Sens. Actuators A: Phys. 267, 505–516 (2017)
Takashima, K., Sugitani, K., Morimoto, N., Sakaguchi, S., Noritsugu, T., Mukai, T.: Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire. Smart Mater. Struct. 23, 10 (2014)
Takashima, K., Noritsugu, T., Rossiter, J., Guo, S., Mukai, T.: Curved type pneumatic artificial rubber muscle using shape-memory polymer. J. Robot. Mechatron. 24, 8 (2012)
Kim, S.-J., Lee, D.-Y., Jung, G.-P., Cho, K.-J.: An origami-inspired, self-locking robotic arm that can be folded flat. Sci. Robot. 3, eaar2915 (2018)
Rafsanjani, A., Zhang, Y., Liu, B., Rubinstein, S.M., Bertoldi, K.: Kirigami skins make a simple soft actuator crawl. Sci. Robot. 3, eaar7555 (2018)
Veldman, S.L.: Design and Analysis Methodologies for Inflated Beams, p. 467. Delft University Press, Delft (2005)
Inman, D., Main, J.A., Lhernould, M.: Vibration testing and finite element analysis of an inflatable structure. AIAA J. 41, 1556–1563 (2003)
Acknowledgments
The authors gratefully acknowledge the fundings by the Postdoctoral Science Foundation and the Natural Science Foundation of China, under Grants No. 11702320, 11725211 and 61690213.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Zhang, X., Liu, Z., Liu, H., Cao, L., Chen, X., Huang, Y. (2019). Design and Experiment of a Foldable Pneumatic Soft Manipulator. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_17
Download citation
DOI: https://doi.org/10.1007/978-3-030-27535-8_17
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27534-1
Online ISBN: 978-3-030-27535-8
eBook Packages: Computer ScienceComputer Science (R0)