Soft robotics is a subfield of robotics that encompasses the design and fabrication of robots with soft and compliant materials. Soft robots represent components like human prosthetics or biomimicking systems. Soft robotics relies on technically astute designs based on the correct choice of materials to enable a level of dexterity not possible with rigid components alone. The basic prime movers (actuators) and perception (sensors) require control systems capable of accommodating imprecise feedback data and often unpredictable reaction times. Mobility in such robots is more akin to entomological or marine systems than conventional guided vehicles.
This reference is a guide to materials and systems used in soft robotics. If features 6 chapters contributed by robotics experts that review fundamental and applied topics that are important for understanding the requirements of soft robotics design projects and the physics of the polymers involved. Chapters are organized for easy reading and include references.
This book is a suitable reference for scholars and engineers who are seeking knowledge about materials and design principles in soft robotics with its practical applications.
This reference is a guide to materials and systems used in soft robotics. If features 6 chapters contributed by robotics experts that review fundamental and applied topics that are important for understanding the requirements of soft robotics design projects and the physics of the polymers involved. Chapters are organized for easy reading and include references.
The topics include:
- Aspects of materials processing and engineering for the development of soft robotic devices
- A review on biological gripping principles and their application to robotics
- Information about self-sensing electroadhesive polymer grippers with magnetically controllable surface geometry
- Theoretical and experimental investigations of magnetic hybrid materials
- Modeling and dynamic analysis of a novel rotary soft robotic arm by transfer matrix method
- Design and control of a portable continuum robot for pipe inspection assisted by a rigid manipulator
This book is a suitable reference for scholars and engineers who are seeking knowledge about materials and design principles in soft robotics with its practical applications.
Table of Contents
PREFACE- i LIST OF CONTRIBUTORS
- ii CHAPTER 1 ASPECTS OF MATERIALS PROCESSING AND ENGINEERING FOR THE DEVELOPMENT OF SOFT ROBOTIC DEVICES
- Shib Shankar Banerjee, Injamamul Arief, Andreas Fery, Gert Heinrich and Amit Das 1. INTRODUCTION
2. Elastomers
3. Dielectric Elastomers
4. Fluid Materials
5. Liquid Metal Embedded Elastomers
6. Hydrogels
- CONCLUDING REMARKS
- CONSENT FOR PUBLICATION
- CONFLICT OF INTEREST
- ACKNOWLEDGEMENTS
- REFERENCES
CHAPTER 2 LEARNING FROM NATURE: A REVIEW ON BIOLOGICAL GRIPPING PRINCIPLES AND THEIR APPLICATION TO ROBOTICS
SECTION I – PHYSICAL PRINCIPLES
SECTION II – BIOLOGICAL GRIPPING DEVICES
1. Hooking Grippers
2. Lock-and-key Grippers
3. Clamp Grippers
4. Sucker Grippers
5. Adhesion Grippers
6. Frictional Grippers
7. Spacer Grippers
SECTION III – EVALUATION
1. Hooking Grippers
2. Lock-and-key Grippers
3. Clamp and Spacer Grippers
4. Sucker Grippers
5. Adhesion-Based Grippers
6. Friction-Based Grippers
- CONCLUSION
- CONSENT FOR PUBLICATION
- CONFLICT OF INTEREST
- ACKNOWLEDGEMENT
- REFERENCES
CHAPTER 3 SELF-SENSING ELECTROADHESIVE POLYMER GRIPPER WITH MAGNETICALLY CONTROLLABLE SURFACE GEOMETRY
- Dirk Sindersberger and Gareth J. Monkman 1. ELECTROADHESIVE END EFFECTORS
1. Coulomb Effect
2. Johnsen-Rahbek Effect
3. Electroadhesion Force
4. Dielectric Polarization and Relaxation
MAGNETOACTIVE POLYMERS
SELF-SENSING
ELECTRICALLY CONDUCTIVE THERMOPLASTICS
EXPERIMENTAL ELECTROADHESION FORCES
- CONCLUSION
- CONSENT FOR PUBLICATION
- CONFLICT OF INTEREST
- ACKNOWLEDGEMENTS
- REFERENCES
CHAPTER 4 THEORETICAL AND EXPERIMENTAL INVESTIGATIONS OF MAGNETIC HYBRID MATERIALS WITH APPLICATIONS FOR LOCOMOTION, MANIPULATION AND SENSOR SYSTEMS IN SOFT ROBOTICS
- Klaus Zimmermann, Valter Böhm, Jhohan Chavez, Tatiana Becker, Nina Prem and Florian Schale 1. INTRODUCTION
2. Magnetic Hybrid Materials
LOCOMOTION SYSTEMS BASED ON MAGNETIC HYBRID MATERIALS
MANIPULATION END-EFFECTORS BASED ON MAES
TACTILE SENSOR BASED ON FERROFLUID
SHORT SUMMARY AND DETAILED OUTLOOK
- CONSENT FOR PUBLICATION
- CONFLICT OF INTEREST
- ACKNOWLEDGEMENTS
- REFERENCES
CHAPTER 5 MODELING AND DYNAMIC ANALYSIS OF A NOVEL ROTARY SOFT ROBOTIC ARM BY TRANSFER MATRIX METHOD
- Mahdi Bamdad INTRODUCTION
- DESIGN AND KINEMATIC ANALYSIS
2. Kinematic Model
- TRANSFER MATRIX METHOD
2. Soft Arm Discretization
3. Equations of Motion
4. TMM Modeling
- RESULTS AND DISCUSSION
- 4-2- ADAMS model
- CONCLUSION
- CONSENT FOR PUBLICATION
- CONFLICT OF INTEREST
- ACKNOWLEDGEMENT
- REFERENCES
CHAPTER 6 DESIGN AND CONTROL OF A PORTABLE CONTINUUM ROBOT FOR PIPE INSPECTION ASSISTED BY A RIGID MANIPULATOR
- Bingbin Yu and Frank Kirchner 1. INTRODUCTION
1. Conceptual Design of the Portable Continuum Manipulator
2. Actuation Base
3. Continuum Arm
4. Modular Electronics
5. System and Communication System
MODELLING AND CONTROL OF PCM
1. Forward and Inverse Kinematics
2. Position Control Scheme
3. Tendon Force Control
EXPERIMENTS AND EVALUATION
1. Use Case: Pipe Inspection by Using Soft and Rigid Manipulators Cooperatively
- CONCLUSION AND OUTLOOK
- CONSENT FOR PUBLICATION
- CONFLICT OF INTEREST
- ACKNOWLEDGEMENTS
- REFERENCES
- SUBJECT INDEX
Author
- Gareth J. Monkman
