Design, Modelling, and Control of Continuum Arms with Pneumatic Artificial Muscles: A Review

Abstract

In this research paper, we present a comprehensive analysis of the current state of soft robots actuated with pneumatic artificial muscles and emphasise their distinct advantages over rigid robots, including exceptional flexibility, adaptability, and safety. Our study explores the design principles of soft robots, drawing inspiration from biological systems and human hands, and identifies promising avenues for further development. The emergence of hybrid robots is also recognised as a significant advancement, particularly in scenarios requiring high precision. The article explores mathematical models encompassing kinematics, dynamics, and statics, as well as alternative model-free approaches. These theoretical frameworks are instrumental in understanding and manipulating the behaviour of soft robots. However, despite substantial progress, soft robots’ practical application and simulation face limitations, primarily due to the demanding requirements and implementation challenges associated with their deployment. Consequently, this paper highlights the need for continued research and advancements to bridge the gap between the theoretical potential and practical utilisation of soft robots.

Symmetrical Modeling of Physical Properties of Flexible Structure of Silicone Materials for Control of Pneumatic Soft Actuators

“…Currently, the advancement of 3D printing technology and the emergence of intelligent materials, including shape memory alloys (SMAs), shape memory composite materials (SMP), ionic polymer metal composite materials (IPMC), and dielectric elastomers (DEs), have established a solid foundation for the further exploration of soft robotics. Drawing inspiration from the locomotion mechanisms observed in nature [6][7][8], researchers have leveraged the unique structural features of soft organisms in the design of soft robots, enabling them to successfully accomplish specific locomotion tasks. This kind of robot is called a bionic soft robot [9,10].…”

Design and research of the ground robotic system structure for weapons remote control

“…The leading countries of the world, such as the United States of America (USA), Great Britain, countries of the European Union, Japan, Israel, Turkey, South Korea, China have clearly determined that the wars of the future are wars of robots (robotic systems) [1][2][3][4]. Therefore, great attention is paid to their design and implementation [1,5], which is evidenced by US guiding documents [2][3][4], namely: Integrated Roadmap of Unmanned Systems for 2017-2042, Strategy for Robotic and Autonomous Systems of the US Army, and Operational Concept of the US Army to 2040. According to the documents, special attention in the use of ground forces is directed to minimizing the loss of personnel during the execution of combat tasks by units.…”

“…Ground robotic system (GRS) [1] is an unmanned robotic platform, related remote control points, control lines, and other elements that make it possible to automate the performance of assigned tasks. For firing, GRS is equipped with gun turrets that appeared in the last two decades due to the significant technological development of mechatronic systems [5,6].…”

“…Scientific research into this area is important because the advantage over the enemy will be delivered by those GRSs that are endowed with advanced «artificial intelligence» [9] and improved operational properties. The results of military GRS research can be used to improve civilian robots, the use of which is rapidly increasing every year [5].…”

Novel Gesture-Based Robot Programming Approach with the Ability of Code Reuse

“…Some authors have provided equations for the forward and inverse kinematics of the ABB YuMi robot, although the provided technique is universal and suitable for any articulated robot. A general description of forward and inverse kinematics is presented in [28]. Also, others authors [29] provided Denavit-Hartenberg parameters (DH parameters) only for the left arm of the ABB YuMi robot, which are necessary for solving kinematic equations.…”