TY - GEN
T1 - Dexterity and workspace analysis of two soft robotic manipulators
AU - Trivedi, Deepak
AU - Lesutis, Daniel
AU - Rahn, Christopher D.
PY - 2010
Y1 - 2010
N2 - Soft robotic manipulators are continuum robots made of soft materials that undergo continuous elastic deformation and produce motion with a smooth backbone curve. These manipulators offer significant advantages over traditional manipulators due to their ability to conform to their surroundings, move with dexterity and manipulate objects of widely varying size using whole arm manipulation. Soft robotic manipulators are complex and difficult to design, model and fabricate. In this paper, we present a cost effective design for a pneumatic air muscle based soft robotic manipulator in which the actuators for the distal section extend from the base to the tip of the arm, thereby simplifying the pneumatic design and eliminating the need for endplates. We compare the workspace and dexterity of continuous tube (CT) design with a previously developed OctArm type manipulator and conclude that although the two designs have comparable workspace area, the OctArm workspace has better dexterity characteristics.
AB - Soft robotic manipulators are continuum robots made of soft materials that undergo continuous elastic deformation and produce motion with a smooth backbone curve. These manipulators offer significant advantages over traditional manipulators due to their ability to conform to their surroundings, move with dexterity and manipulate objects of widely varying size using whole arm manipulation. Soft robotic manipulators are complex and difficult to design, model and fabricate. In this paper, we present a cost effective design for a pneumatic air muscle based soft robotic manipulator in which the actuators for the distal section extend from the base to the tip of the arm, thereby simplifying the pneumatic design and eliminating the need for endplates. We compare the workspace and dexterity of continuous tube (CT) design with a previously developed OctArm type manipulator and conclude that although the two designs have comparable workspace area, the OctArm workspace has better dexterity characteristics.
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U2 - 10.1115/DETC2010-28719
DO - 10.1115/DETC2010-28719
M3 - Conference contribution
AN - SCOPUS:80054981868
SN - 9780791844106
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 1389
EP - 1398
BT - ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
T2 - ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
Y2 - 15 August 2010 through 18 August 2010
ER -