Titre :

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

Auteur(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 ]

Titre de la manifestation scientifique :

Robosoft 2021

Ville :

Yale / Virtual

Pays :

Etats-Unis d'Amérique

Date de début de la manifestation scientifique :

2021-04-12

Date de publication :

2021-04-16

Mot(s)-clé(s) en anglais :

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

Discipline(s) HAL :

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

Résumé en anglais : [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 ...
Lire la suite >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.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Collections :

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

Source :

Harvested from HAL