Title :

Enabling the control of a new degree of freedom by using anisotropic material on a 6-DOF parallel soft robot

Author(s) :

Vanneste, Félix [Auteur]
Deformable Robots Simulation Team [DEFROST]
Goury, Olivier [Auteur]
Deformable Robots Simulation Team [DEFROST]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST]

Conference title :

Robosoft 2021

City :

Yale / Virtual

Country :

Etats-Unis d'Amérique

Start date of the conference :

2021-04-12

Publication date :

2021-04-16

English keyword(s) :

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

HAL domain(s) :

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

English abstract : [en]

In this paper, we design in simulation and build a parallel soft robot with a 6 degrees of freedom (DOF) endeffector. We show that by using a 3D-printed meso-structured material which displays an anisotropic behaviour, we ...
Show more >In this paper, we design in simulation and build a parallel soft robot with a 6 degrees of freedom (DOF) endeffector. We show that by using a 3D-printed meso-structured material which displays an anisotropic behaviour, we can modify the kinematics of the structure in order to control one additional DOF which is not possible to achieve using a standard isotropic and homogeneous material like silicone. The behaviour of the robot is simulated using numerical homogenization and the finite element method (FEM), which runs in real-time and can be used for control. We finally show that the parallel soft robot we have built is controllable in open loop thanks to the use of inverse simulation. We demonstrate its maneuverability by guiding a marble in a maze game.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

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

Source :

Harvested from HAL