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Table of contents
- Submission history
- novel concept definition | English definition dictionary | Reverso
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Zoomer unknown. Refers to members of Generation Z and is a play on the term "Boomer," which refers to members of the Baby Boomer generation. A diamond-shaped aperture pattern was chosen for our application.
This mesh aperture geometry was chosen among other commercially available meshes with different patterns due to its isotropic mechanical behavior and its negligibly low elasticity. These features match our requirements in terms of nondeformability of the link along longitudinal and radial directions. Based on these considerations, four different diamond meshes from Normesh Ltd. Based on our analysis, we selected Dragon Skin, which proved to be most suitable exhibiting a good level of elasticity and shape retention. Aiming to achieve a good trade-off between softness of the material and mechanical rigidity of the cylindrical structure, Dragon Skin 20A was selected.
The meshes were cut and sewn in a way that the main diagonal of the diamond apertures is aligned with the longitudinal axis of the link. A mold consisting of three components was created to allow each cylindrical mesh to be enclosed within the silicone-based material. The molding process is as follows: the sewn PP mesh is slipped over the cylindrical mold component I. Then, a silicone mixture is prepared and degassed in a vacuum chamber.
Part of the silicone mixture is then poured into the base part of the mold II , filling it for half of its capacity. Part I of the mold with the mesh is then inserted from the top into part II.
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More silicone is added after inserting part I into part II, to make sure that enough material is present to form a complete and continuous link wall. Figure 2c shows the mold in its assembled state. Figure 2d shows the link after the molds and any excess silicone have been removed. The whole procedure was repeated to create four samples using the four different meshes.
Table 1 summarizes the characteristics of the samples, including the mesh aperture size, wall thickness, and thread diameter. The mold was designed on purpose in a way to generate silicone mesh walls of the same thickness for all four samples, regardless of the thickness of the used mesh. Table 1. A test rig was prepared to evaluate the stiffness of the prototypes according to different levels of pressure applied.
This investigation was aimed at understanding which mesh property impacted mostly on the overall stiffness of the system: the aperture size or the diameter of the thread used. To pressurize and test the samples, one of the two circular openings in the base of the cylinder was sealed using a customized 3D printed cap. The cap was inserted and secured in place with cable ties and silicone glue to guarantee the internal chamber to be air-tight. Figure 3a shows one of the samples ready for testing. After closing the tip with the cap, the open end of the sample was attached to a customized 3D printed test base.
This allows the control of the pressure level inside the link. Figure 3 displays the experimental setup of the system for a lateral tip stiffness test. The level of stiffness of the samples was evaluated at the tip, where the displacement generated by an external applied force is maximal. Link sample with 3D printed cap embedded for stiffness test a and setup for the lateral stiffness tests at the tip b direction of the lateral force Fx and of the longitudinal force Fz applied during the tests are marked.
It is important to note that no significant radius or length variations occurred after pressurizing the samples, further proving the effectiveness of this design in terms of limitation of undesirable deformations of this silicone-based system. For each of the four link samples, the lateral tip test has been performed applying four different pressure levels. Each loading and unloading cycle was repeated five times.
The results of these tests are shown in Figure 4 with the deflection displacement plotted against force. Standard deviation values ordered by increasing pressure level: a 0.
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In Figure 4 , the average values of the five force reading cycles are plotted with the corresponding error bars for each pressure level in separate graphs. As shown in Figure 4a , the load—unload curves have an overall linear trend and some hysteresis. The maximum achievable force is 2.
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As expected, applying a larger pressure leads to an increase in stiffness of the inflated link and, thus, an increase of lateral reaction force. Comparing the graphs of Figure 5 , showing the readings obtained from experiments with a different mesh—silicone combination, it can be deduced that the bigger the thread diameter and the aperture sizes are, the stiffer is the inflated link.
The results of the stiffness tests for the four links along the longitudinal direction on the tip are shown in Figure 5a—d. Each graph shows force values against tip displacement, calculated as the average of five load—unload cycles for four different pressure levels. Error bars are included.
Thus, the sample behaves in a similar manner to a rigid beam, particularly one with a circular section. The mechanical properties of this soft robotic link structure make the modeling significantly simpler when compared to the typical silicone-based robot manipulators. Once again, this can be explained considering the system as a cantilever beam clamped on one base, free at the other end.
novel concept definition | English definition dictionary | Reverso
The compression force along the longitudinal axis produces buckling behavior after a deformation of 3. Also in this case, the obtained force readings for the four prototypes display a continuous increase considering the increasing pressure levels as shown in Figure 5. Furthermore, the link prototypes composed of meshes with bigger threads and aperture sizes exhibit a stiffer behavior. Table 2 summarizes the experimental results. Table 2. Shaded gradients show force trends in relation to pressure level and mesh geometrical characteristics.
Departing from the traditional approach to robot arms with their rigid links, this article proposes a novel concept for stiffness-controllable robot links. The proposed concept is inspired by our earlier work on inflatable, stiffness-controllable robotic manipulators. The proposed concept provides a new solution to vary the stiffness of robot manipulator links with ramifications especially in the area of safe human—robot interaction HRI. In contrast to current solutions for safe HRI using stiffness-controllable joints such as those based on variable elastic actuators, we pursue a different approach here where the links are the focus of our attention and whose stiffness can be controlled to adapt to the environmental situations, especially to render the robot safe when, for example, a human is in the nearby vicinity, by rapidly reducing the stiffness.
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