Optimal, model-based design of soft robotic manipulators

Deepak Trivedi, Dustin Dienno, Christopher D. Rahn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

Soft robotic manipulators, unlike their rigid-linked counterparts, deform continuously along their lengths similar to elephant trunks and octopus arms. Their excellent dexterity enables them to navigate through unstructured and cluttered environments and handle fragile objects using whole arm manipulation. Soft robotic manipulator design involves the specification of air muscle actuators and the number, length and configuration of sections that maximize dexterity and load capacity for a given maximum actuation pressure. This paper uses nonlinear models of the actuators and arm structure to optimally design soft robotic manipulators. The manipulator model is based on Cosserat rod theory, accounts for large curvatures, extensions, and shear strains, and is coupled to nonlinear Mooney-Rivlin actuator model. Given a dexterity constraint for each section, a genetic algorithm-based optimizer maximizes the arm load capacity by varying the actuator and section dimensions. The method generates design rules that simplify the optimization process. These rules are then applied to the design of pneumatically and hydraulically actuated soft robotic manipulators, using 100 psi and 1000 psi maximum pressure, respectively.

Original languageEnglish (US)
Title of host publication2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Pages801-809
Number of pages9
Volume8 PART B
DOIs
StatePublished - Jun 13 2008
Event31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
Duration: Sep 4 2007Sep 7 2007

Other

Other31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
CountryUnited States
CityLas Vegas, NV
Period9/4/079/7/07

All Science Journal Classification (ASJC) codes

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Mechanical Engineering
  • Modeling and Simulation

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    Trivedi, D., Dienno, D., & Rahn, C. D. (2008). Optimal, model-based design of soft robotic manipulators. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007 (Vol. 8 PART B, pp. 801-809) https://doi.org/10.1115/DETC2007-35612