Anisotropic soft robots based on 3D printed ...
Type de document :
Compte-rendu et recension critique d'ouvrage
DOI :
Titre :
Anisotropic soft robots based on 3D printed meso-structured materials: design, modeling by homogenization and simulation
Auteur(s) :
Vanneste, Félix [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Goury, Olivier [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Martinez, Jonas [Auteur]
Geometry and Lighting [ALICE]
Lefebvre, Sylvain [Auteur]
Matter from Graphics [MFX]
Delingette, Hervé [Auteur]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Deformable Robots Simulation Team [DEFROST ]
Goury, Olivier [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Martinez, Jonas [Auteur]
Geometry and Lighting [ALICE]
Lefebvre, Sylvain [Auteur]
Matter from Graphics [MFX]
Delingette, Hervé [Auteur]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Titre de la revue :
IEEE Robotics and automation letters
Pagination :
2380-2386
Éditeur :
IEEE
Date de publication :
2020-01-28
ISSN :
2377-3766
Mot(s)-clé(s) en anglais :
Simulation and Animation
Additive Manufacturing
Soft Robot Applications
Kinematics
Soft Robot Materials and Design
Additive Manufacturing
Soft Robot Applications
Kinematics
Soft Robot Materials and Design
Discipline(s) HAL :
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Robotique [cs.RO]
Résumé en anglais : [en]
In this paper, we propose to use new 3D-printed meso-structured materials to build soft robots and we present a modeling pipeline for design assistance and control. These meta-materials can be programmed before printing ...
Lire la suite >In this paper, we propose to use new 3D-printed meso-structured materials to build soft robots and we present a modeling pipeline for design assistance and control. These meta-materials can be programmed before printing to target specific mechanical properties, in particular heterogeneous stiffness and anisotropic behaviour. Without changing the external shape, we show that using such meta-material can lead to a dramatic change in the kinematics of the robot. This highlights the importance of modeling. Therefore, to help the design and to control soft robots made of these meso-structured materials, we present a modeling method based on numerical homogenization and Finite Element Method (FEM) that captures the anisotropic deformations. The method is tested on a 3 axis parallel soft robot initially made of silicone. We demonstrate the change in kinematics when the robot is built with meso-structured materials and compare its behavior with modeling results.Lire moins >
Lire la suite >In this paper, we propose to use new 3D-printed meso-structured materials to build soft robots and we present a modeling pipeline for design assistance and control. These meta-materials can be programmed before printing to target specific mechanical properties, in particular heterogeneous stiffness and anisotropic behaviour. Without changing the external shape, we show that using such meta-material can lead to a dramatic change in the kinematics of the robot. This highlights the importance of modeling. Therefore, to help the design and to control soft robots made of these meso-structured materials, we present a modeling method based on numerical homogenization and Finite Element Method (FEM) that captures the anisotropic deformations. The method is tested on a 3 axis parallel soft robot initially made of silicone. We demonstrate the change in kinematics when the robot is built with meso-structured materials and compare its behavior with modeling results.Lire moins >
Langue :
Anglais
Vulgarisation :
Non
Collections :
Source :
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