國立虎尾科技大學 |

Extensile Fluidic Artificial Muscles in Payload-Carrying Continuum Soft Robots.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Extensile Fluidic Artificial Muscles in Payload-Carrying Continuum Soft Robots./
Author:	Garbulinski, Jacek.
Description:	1 online resource (200 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 84-12, Section: B.
Contained By:	Dissertations Abstracts International84-12B.
Subject:	Robotics. -
Online resource:	click for full text (PQDT)
ISBN:	9798379750534

Extensile Fluidic Artificial Muscles in Payload-Carrying Continuum Soft Robots.
Garbulinski, Jacek.

Extensile Fluidic Artificial Muscles in Payload-Carrying Continuum Soft Robots. - 1 online resource (200 pages)

Source: Dissertations Abstracts International, Volume: 84-12, Section: B.

Thesis (Ph.D.)--University of Maryland, College Park, 2023.

Includes bibliographical references

Intrinsically actuated continuum soft robots merge the features of hyper-redundant and soft robots. The soft structure and redundancy allow the robots to conduct tasks in confined or unstructured environments. Extensile fluidic artificial muscles (EFAMs) can be used to construct soft actuated structures that feature large deformation and enable the robots to access large reachable workspaces. However, the soft robots' low structural stiffness limits their ability to exert force or carry payloads. This dissertation aims to improve the continuum soft robot's spatial and payload-carrying performance. The work seeks to accomplish the following:Compare multi-segment continuum robots to understand how the number of segments and robot geometry affect their spatial performance.Experimentally characterize and model EFAMs to close existing knowledge gaps in their axial and bending behaviors.Investigate the impact of radial reinforcement on the payload-carrying ability of an EFAM robot.Propose a modeling approach that captures the deformation of the robot under payloads.First, we described the constant-curvature (CC) kinematics of a multi-segment continuum robot and used it to compute workspaces of one-, two-, and three-segment robots with varying aspect ratios. We showed that two-segment robots have an enhanced workspace by 43.2-122 percent compared to one-segment robots. We also showed that three-segment robots had a better ability to conduct tasks that require a specific end-effector orientation by 28.8-76.1 percent compared to two-segment robots. The analysis allowed us to assess the influence of robots' geometry and the number of segments on their spatial performance.Second, we described a manufacturing process and experimental characterization of EFAMs. We verified a force-balance FAM model and achieved lower modeling error with hyper-elastic constitutive models. We also described a method for characterizing the bending properties of EFAMs. We showed that bending stiffness and damping can change four-fold over a standard pressure range of 34.5-690 kPa. The work allowed us to model the axial and bending behavior of EFAMs. Third, we proposed reinforcing a continuum soft robot with bio-inspired radial supports (ossicles). We showed that the reinforcement reduces buckling in axial loading, thereby allowing the robot to achieve several-fold larger pushing forces while preserving the robot's extensive range of motion, shape, and low structural stiffness. The axial loads were 320 percent higher for the blocked force condition for the seven-ossicle robot when compared to the three-ossicle robot. We also demonstrated the improvement in payload-carrying capability in bending with pictographic data. As the ossicle reinforcement reduces the influence of buckling, torsional, and shear deformations under payload, it allowed us to model EFAM robots as structures that only deform axially and while bending.Fourth, we experimentally acquired poses of a one-segment robot carrying three increasingly larger payloads. Thereafter, we assessed the error between a CC model, a newly proposed model, and the experimental data. We showed that the CC model was valid for the smallest payload case. In contrast, our proposed model captured the behavior of EFAM robots regardless of the payload size. The model was entirely based on EFAM mechanical properties and the robot's geometry. The proposed model facilitates valid modeling of one-segment EFAM robots under significant payloads and could be extended to a multi-segment formulation.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798379750534Subjects--Topical Terms:

561941
Robotics.
Subjects--Index Terms:

Continuum robotIndex Terms--Genre/Form:

554714
Electronic books.

Extensile Fluidic Artificial Muscles in Payload-Carrying Continuum Soft Robots.
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520 $a Intrinsically actuated continuum soft robots merge the features of hyper-redundant and soft robots. The soft structure and redundancy allow the robots to conduct tasks in confined or unstructured environments. Extensile fluidic artificial muscles (EFAMs) can be used to construct soft actuated structures that feature large deformation and enable the robots to access large reachable workspaces. However, the soft robots' low structural stiffness limits their ability to exert force or carry payloads. This dissertation aims to improve the continuum soft robot's spatial and payload-carrying performance. The work seeks to accomplish the following:Compare multi-segment continuum robots to understand how the number of segments and robot geometry affect their spatial performance.Experimentally characterize and model EFAMs to close existing knowledge gaps in their axial and bending behaviors.Investigate the impact of radial reinforcement on the payload-carrying ability of an EFAM robot.Propose a modeling approach that captures the deformation of the robot under payloads.First, we described the constant-curvature (CC) kinematics of a multi-segment continuum robot and used it to compute workspaces of one-, two-, and three-segment robots with varying aspect ratios. We showed that two-segment robots have an enhanced workspace by 43.2-122 percent compared to one-segment robots. We also showed that three-segment robots had a better ability to conduct tasks that require a specific end-effector orientation by 28.8-76.1 percent compared to two-segment robots. The analysis allowed us to assess the influence of robots' geometry and the number of segments on their spatial performance.Second, we described a manufacturing process and experimental characterization of EFAMs. We verified a force-balance FAM model and achieved lower modeling error with hyper-elastic constitutive models. We also described a method for characterizing the bending properties of EFAMs. We showed that bending stiffness and damping can change four-fold over a standard pressure range of 34.5-690 kPa. The work allowed us to model the axial and bending behavior of EFAMs. Third, we proposed reinforcing a continuum soft robot with bio-inspired radial supports (ossicles). We showed that the reinforcement reduces buckling in axial loading, thereby allowing the robot to achieve several-fold larger pushing forces while preserving the robot's extensive range of motion, shape, and low structural stiffness. The axial loads were 320 percent higher for the blocked force condition for the seven-ossicle robot when compared to the three-ossicle robot. We also demonstrated the improvement in payload-carrying capability in bending with pictographic data. As the ossicle reinforcement reduces the influence of buckling, torsional, and shear deformations under payload, it allowed us to model EFAM robots as structures that only deform axially and while bending.Fourth, we experimentally acquired poses of a one-segment robot carrying three increasingly larger payloads. Thereafter, we assessed the error between a CC model, a newly proposed model, and the experimental data. We showed that the CC model was valid for the smallest payload case. In contrast, our proposed model captured the behavior of EFAM robots regardless of the payload size. The model was entirely based on EFAM mechanical properties and the robot's geometry. The proposed model facilitates valid modeling of one-segment EFAM robots under significant payloads and could be extended to a multi-segment formulation.
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