Modelling and model-based tracking control of soft twisted and coiled actuators

Wang, Yawu; Xu, Zhichao; Wu, Jundong; Zhang, Yue; Su, Chun-Yi

doi:10.1016/j.conengprac.2023.105722

Cited by 2 publications

(1 citation statement)

References 31 publications

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“…While conventional actuation methods can be applied in certain scenarios, such as cable robots where external motors tension the cables [5,6], novel actuators are frequently required. This has led to the development of various actuator types, including pneumatic actuators [7], electroactive polymers (EAP) [8], magnetic actuators [9], twisted and coiled actuators (TCA) [10], and shape memory alloys (SMA) [11,12].…”

Section: Introductionmentioning

confidence: 99%

Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm

García-Samartín,

Rieker,

Barrientos

2024

Actuators

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Soft robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced control methods. This research is centred on the design, fabrication, and control of a pneumatic soft robot. The principal objective is to develop a modular soft robot featuring multiple segments, each one with three degrees of freedom. This yields a tubular structure with five independent degrees of freedom, enabling motion across three spatial dimensions. Physical construction leverages tin-cured silicone and a wax-casting method, refined through an iterative processes. PLA moulds that are 3D-printed and filled with silicone yield the desired model, while bladder-like structures are formed within using solidified paraffin wax-positive moulds. For control, an empirically fine-tuned open-loop system is adopted. This paper culminates in rigorous testing. Finally, the bending ability, weight-carrying capacity, and possible applications are discussed.

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