The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Manufacturing 2DOF Inflatable Joint Actuator by Pneumatic Control

공압제어를 통한 2DOF 팽창식 관절 액추에이터 제작

  • Oh, Namsoo (Mechanical Engineering, Sungkyunkwan University) ;
  • Lee, Haneol (Mechanical Engineering, Sungkyunkwan University) ;
  • Rodrigue, Hugo (Mechanical Engineering, Sungkyunkwan University)
  • Received : 2018.03.28
  • Accepted : 2018.05.10
  • Published : 2018.05.31
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a soft robotic arm which can prevent impact injury during human-robot interaction is introduced. Two degrees of freedom joint are required to realize free movement of the robotic arm. A robotic joint concept with a single degree of freedom is presented using simple inflatable elements, and then extended to form a robotic joint with two degrees of freedom joint using similar manufacturing methods. The robotic joint with a single degree of freedom has a joint angle of $0^{\circ}$ bending angle when both chamber are inflated at equal pressures and maximum bending angles of $28.4^{\circ}$ and $27.1^{\circ}$ when a single chamber if inflated. The robotic joint with two degrees of freedom also has a bending angle of $0^{\circ}$ in both direction when all three chambers are inflated at equal pressures. When either one or two chambers were pressurized, the robotic joint performed bending towards the uninflated chambers.

Keywords

References

  1. D. Trivedi, C. D. Rahn, W. M. Kier, and I. D. Walker, "Soft robotics: Biological inspiration, state of the art, and future research," Applied Bionics and Biomechanics, vol. 5, no. 3, pp. 99-117, 2008. https://doi.org/10.1155/2008/520417
  2. F. Daerden and D. Lefeber, "Pneumatic Artificial Muscles: actuators for robotics and automation," European Journal of Mechanical and Environmental Engineering, vol. 47, no. 1, pp. 11-21, March, 2002.
  3. A. Miriyev, K. Stack, and H. Lipson, "Soft material for soft actuators," Nature Communications, vol. 8, no. 1, pp. 1-8, Sept., 2017. https://doi.org/10.1038/s41467-016-0009-6
  4. Y. Jeong, "Technical trend of Biomimetic robot," Journal of KIPS, vol. 13, no. 4, pp.5-16, 2011.
  5. R. V. Martinez, A. C. Glavan, C. Keplinger, A. I. Oyetibo, and G. M. Whitesides, "Soft Actuators and Robots that Are Resistant to Mechanical Damage," Advanced Functional Materials, vol. 24, no. 20, pp. 3003-3010, 2014. https://doi.org/10.1002/adfm.201303676
  6. L. Yao, R. Niiyama, J. Ou, S. Follmer, C. D. Silva, and H. Ishii, "PneUI: Pneumatically Actuated Soft Composite Material s for Shape Changing Interfaces," Annual ACM Symposium on User Interface Software and Technology, St. Andrews, Scotland, United Kingdom, pp. 13-22, 2013.
  7. R. F. Shepherd, U. Gupta, J. Shim, K. Bertoldi, C. J. Walsh, and G. M. Whitesides, "Pneumatic Networks for Soft Robotics that Actuate Rapidly," Advanced Functional Materials, vol. 24, no. 15, pp. 2163-2170, 2014. https://doi.org/10.1002/adfm.201303288
  8. S.-Y. Chang, K. Takashima, S. Nishikawa, R. Niiyama, T. Someya, H. Onodera, and Y. Kuniyoshi, "Design of Small-size Pouch Motors for Rat Gait Rehabilitation Device," 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Milano, Italy, pp. 4578-4581, 2015.
  9. R. Niiyama, X. Sun, C. Sung, B. An, D. Rus, and S. Kim, "Pouch Motors: Printable Soft Actuators Integrated with Computational Design," Soft Robotics, vol. 2, no. 2, pp. 59-70, 2015. https://doi.org/10.1089/soro.2014.0023
  10. R. Niiyama, X. Sun, L. Yao, H. Ishii, D. Rus, and S. Kim, "Sticky Actuator: Free-Form Planar Actuators for Animated Objects," International Conference on Tangible, Embedded, and Embodied Interaction, Munich, Germany, pp. 77-84, 2015.
  11. J. D. Greer, T. K. Morimoto, A. M. Okamura, and E. W. Hawkes, "Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot," 2017 IEEE International Conference on Robotics and Automation, Singapore, pp. 5503-5510, 2017.
  12. E. W. Hawkes, D. L. Christensen, and A. M. Okamura, "Design and Implementation of a 300% Strain Soft Artificial Muscle," 2016 IEEE International Conference on Robotics and Automation, Stockholm, Sweden, pp. 4022-4029, 2016.
  13. J. Park, J. W. Yoo, H. W. Seo, Y. Lee, J. Suhr, H. Moon, J. C. Koo, H. R. Choi, R. Hunt, K. J. Kim, S. H. Kim, and J.-D. Nam, "Electrically Controllable Twisted-Coiled Artificial Muscle Actuators using Surface-Modified Polyester Fibers," Smart Materials and Structures, vol.26, pp. 1-18, 2017.
  14. H. Rodrigue, W. Wang, M.-W. Han, T. J.Y. Kim, and S.-H. Ahn, "An Overview of Shape Memory Alloy-Coupled Actuators and Robots," Soft Robotics, vol. 4, no. 1, pp. 3-15, Mar., 2017. https://doi.org/10.1089/soro.2016.0008
  15. H. Rodrigue, W. Wang, B. Bhandari, M.-W. Han, and S.-H. Ahn, "SMA-based smart soft composite structure capable of multiple modes of actuation," Composites Part B: Engineering, vol.82, no.1, pp. 152-158, 2015. https://doi.org/10.1016/j.compositesb.2015.08.020

Cited by

  1. 촉감 피드백을 위한 유압증폭자기치유형 정전식 액추에이터 연구 개발 vol.16, pp.1, 2018, https://doi.org/10.7746/jkros.2021.16.1.012