Modeling and Identification for the Design of a Rotary Soft Actuator based on Wren Mechanism

Gayral, Thibault; Rubbert, Lennart; Renaud, Pierre

doi:10.1109/iros40897.2019.8967741

Cited by 4 publications

(3 citation statements)

References 26 publications

(47 reference statements)

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“…In particular, twisting actuators capable of the compound motion of rotation and contraction have also been developed and combined to achieve other motions, including linear, rotational, and radial movements [11,12]. For instance, inspired by the compliant Wren mechanism, twisting actuators were developed by integrating elastic materials in a soft chamber for medical applications [13], but their maximum angular displacement is only 40 • (13 • demonstrated in the experiments) and the maximum operating pressure is only 90 kPa. In contrast, the twisting actuators composed of two compliant Wren mechanisms in ref.…”

Section: Introductionmentioning

confidence: 99%

Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot

Jiang,

Zhang

2024

Robotica

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This paper systematically investigates a soft-rigid hybrid pneumatic actuator (SRHPA), which consists of a rigid-foldable twisting skeleton capable of a large range of helical motion and a soft bellows muscle with high linear driving force. Considering the unique varying-pitch helical motion of the foldable skeleton, the analytical model mapping the input force generated by the bellows muscle and output forces of the actuator is revealed and verified with a simulation of the force analysis. Prototypes of the actuator are developed by fabricating the twisting skeleton with multilayered aluminum composite panels and 3D-printing the bellows muscle with thermoplastic polyurethane (TPU) 95A filament. The static and dynamic performances of the prototypes are tested to validate the analytical modeling of output forces. Using the actuator as a module, a novel bipedal inchworm robot with four modules is developed and tested to demonstrate its adaptability in confined space by switching between the going-straight, the turning-around, and the rotating gaits. The hybrid actuator and the inchworm robot with zero onboard electronics have the potential to be deployed in extreme environments where pneumatically actuated systems are preferred over electrical machines and drives, such as in nuclear and explosive environments.

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Section: Introductionmentioning

confidence: 99%

Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot

Jiang,

Zhang

2024

Robotica

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“…The interest of parallel mechanisms is well identified and exploited in robotic manipulation [1]. In addition, specific motions can be generated with, for instance, helical motion using 3-US mechanism [2,3] or Wren mechanism [4]. One has then the advantage of a parallel structure in terms of stiffness, and at the same time the possibility to adjust the mechanism kinematics for given requirements [5].…”

Section: Introductionmentioning

confidence: 99%

“…In [4], the Wren mechanism was being used as a structure for a rotary actuator, in combination with pneumatic actuation. The Wren mechanism was then designed and produced as a compliant structure in order to benefit from the accuracy of compliant mechanisms in combination with fluidic actuation.…”

Section: Introductionmentioning

confidence: 99%

Development of models for additively manufactured actuators using compliant Wren mechanism

Rubbert

Schuler

Gayral

et al. 2021

Precision Engineering

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Compliant Wren mechanisms (CWM) constitute specific compliant structures of particular interest. Derived from Wren mechanisms, they can exhibit a large variety of motions, from quasi translation to quasi rotation. In this paper, the development of models for the analysis and synthesis of CWM is considered. A kinematic model is introduced first to assess all possible motions when used as an actuator. Then the static model and stress expressions are derived to help their design. These derivations are achieved for two types of geometries, corresponding to the geometries of interest. CWM are filigree structures, whose manufacturing is difficult to consider without additive manufacturing. A specific work on their production using selective laser melting (SLM) is then achieved to ensure the reliability of their production. As a proof of concept, a pneumatically actuated component is then developed and tested. It is composed of two CWM of different geometries. It offers the possibility to obtain translation and rotation using a single pressure input. The developed models are investigated using finite element models and experiments using additively manufactured structures.

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A 3D-Printed Centimeter-Scale Pneumatically Actuated Robotic Manipulator for Micro-Manipulations

Zheng,

Mo,

Yao

et al. 2024

2024 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

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Modeling and Identification for the Design of a Rotary Soft Actuator based on Wren Mechanism

Cited by 4 publications

References 26 publications

Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot

Force analysis of a soft-rigid hybrid pneumatic actuator and its application in a bipedal inchworm robot

Development of models for additively manufactured actuators using compliant Wren mechanism

A 3D-Printed Centimeter-Scale Pneumatically Actuated Robotic Manipulator for Micro-Manipulations

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