Title :

Anisotropic soft robots based on 3D printed meso-structured materials: design, modeling by homogenization and simulation

Author(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]
COMUE Université Côte d'Azur (2015-2019) [COMUE UCA]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]

Journal title :

IEEE Robotics and Automation Letters

Pages :

2380-2386

Publisher :

IEEE

Publication date :

2020-01-28

ISSN :

2377-3766

English keyword(s) :

Simulation and Animation
Additive Manufacturing
Soft Robot Applications
Kinematics
Soft Robot Materials and Design

HAL domain(s) :

Informatique [cs]/Modélisation et simulation
Informatique [cs]/Robotique [cs.RO]

English abstract : [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 ...
Show more >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.Show less >

Language :

Anglais

Popular science :

Non

ANR Project :

Microstructures procedurales et stochastiques pour la fabrication fonctionnelle

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL