Dynamic Model and Analysis of Soft Manipulator Facing Underwater Complex Environment

Zhang, Jun-Hao; Chen, Yinglong; Gong, Yongjun

doi:10.1109/cacre52464.2021.9501346

Cited by 3 publications

(2 citation statements)

References 20 publications

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“…In addition to applications in the industrial field of daily life, practical application cases of software grippers can also be seen in the deep sea. [74,[179][180][181][182] Compared to land applications, the role of soft grippers in the ocean is even more important. For example, in ref.…”

Section: Underwater Grippingmentioning

confidence: 99%

Advanced Technologies and Applications of Robotic Soft Grippers

Qu,

Yu,

Tang

et al. 2024

Adv Materials Technologies

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The robotic soft gripper is a significant and expanding area of study. It is primarily a unique gadget that interacts with the external environment in a certain actuating mode by utilizing the properties of flexible materials and biological shape design. Robotic grippers are increasingly needed in the fields of medical operations, auxiliary maintenance, land rescue, underwater grasping, and space manipulation due to the increasing demand for automation. However, conventional rigid gripper is not the ideal option or optimal design for particular activities requiring a high degree of adaptation and interaction. The soft gripper can interact with its surroundings safely and flexibly because it is comprised of flexible materials. Currently, certain technical system has been developed through research on flexible grippers, but it is still in its infancy. This paper reviews the materials and manufacturing technology, actuating technology, and sensing and control technology of flexible mechanical grippers. Finally, several main application areas of soft grippers are discussed from a technical point of view, as well as possible challenges for further development.

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Section: Underwater Grippingmentioning

confidence: 99%

Advanced Technologies and Applications of Robotic Soft Grippers

Qu,

Yu,

Tang

et al. 2024

Adv Materials Technologies

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“…Compared with rigid manipulators, soft manipulators have diverse advantages, including low weight, safety, and extremely strong environmental adaptability due to their infinite degrees of freedom [15,16]. Soft manipulators provide an alternative to traditional rigid manipulators to solve the problem of complex structures and poor interaction [17][18][19]. Pneumatic actuation is commonly used for soft manipulators, in which compressed air can be stored and dispensed at precise pressure levels.…”

Section: Introductionmentioning

confidence: 99%

Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping

Zhu

Feng

Chen

et al. 2022

Sensors

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With the superior ductility and flexibility brought by compliant bodies, soft manipulators provide a nondestructive manner to grasp delicate objects, which has been developing gradually as a rising focus of soft robots. However, the unexpected phenomenon caused by environmental effects, leading to high internal nonlinearity and unpredictable deformation, makes it challenging to design, model, and control soft manipulators. In this paper, we designed a soft pneumatically actuated manipulator consisting of four soft actuators, as well as a flange, and investigated the influence of structural parameters on the output characteristics of the manipulator through finite element analysis (FEA). To enhance the bending deformation of the soft actuator, annular rings were employed on the soft actuator. A mathematical model for the bending deformation of air cavities was established to explore the relationship between the driving pressure and the bending angle based on the Yeoh strain energy function. Moreover, an end-output force model was established to depict the variation of the force output with the bending angle of the soft actuator, which was then experimentally validated by adopting the manufactured manipulator. The soft actuator studied in this paper can bend from 0° to 110° under an applied pressure of 0–60 kPa, and the maximum grasping load of the soft manipulator is 5.8 N. Finally, practical tests were conducted to assess the adaptability of the soft manipulator when grasping delicate fruits, such as apples, pears, tomatoes, and mangoes, demonstrating its broad application prospects in nondestructive fruit harvesting.

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An Arm-Claw-Type Manipulator for Rapid Deep Water Salvage with a General Support Vessel, Part A: Prototype and Test

Nan

Feng

Yun

et al. 2022

JMSE

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This paper proposed a concept prototype of the arm-claw-type manipulator with a general purpose support vessel for the rapid salvage of deep submergence vehicles, aircraft, satellites, etc. The key functions were realized, including object clamping, claw butting and locking, position and posture adjustment, awareness, positioning, and navigation. The prototype was successfully tested in a lake environment on a hollow and cylindrical object. The arm-claw-type manipulator is suitable for the rapid salvage of cylindrical objects in an underwater environment to minimize the clamping force and possible clamping damage on the object being salvaged. Four propeller thrusters with a symmetrical arrangement can be used for the adjustment of position and posture in underwater environments, to match the orientation of the object. Cameras capture the profile images of the underwater salvage object and can be used for posture adjustment, but in dark, deep-water environments, sonar can be used in the place of underwater cameras.

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Dynamic Model and Analysis of Soft Manipulator Facing Underwater Complex Environment

Cited by 3 publications

References 20 publications

Advanced Technologies and Applications of Robotic Soft Grippers

Advanced Technologies and Applications of Robotic Soft Grippers

Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping

An Arm-Claw-Type Manipulator for Rapid Deep Water Salvage with a General Support Vessel, Part A: Prototype and Test

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