Novel Technique to Increase the Effective Workspace of a Soft Robot
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Published:2024-01-28
Issue:2
Volume:15
Page:197
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ISSN:2072-666X
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Container-title:Micromachines
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language:en
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Short-container-title:Micromachines
Author:
Pérez-Soto Gerardo I.1ORCID, Camarillo-Gómez Karla A.2ORCID, Rodríguez-Reséndiz Juvenal1ORCID, Manríquez-Padilla Carlos G.3ORCID
Affiliation:
1. Facultad de Ingeniería, Universidad Autónoma de Querétaro, Santiago de Querétaro 76010, Mexico 2. Departament of Mechanical Engineering, Tecnológico Nacional de México en Celaya, Celaya 38010, Mexico 3. Facultad de Ingeniería, Universidad Autónoma de Querétaro, San Juan del Río 76807, Mexico
Abstract
This article presents a novel technique for a class 2 tensegrity robot, also classified as a soft robot, to increase workspace by increasing the number of geometric equilibrium configurations of the robot. The proposed modification, unlike the strategies reported in the literature, consists of increasing the number of points where the flexible and rigid elements that make up the robot come into contact without the need to increase the number of actuators, the number of flexible elements, or modify the geometry of the rigid elements. The form-finding methodology combines the basic principles of statics with the direct and inverse kinematic position analysis to determine the number of equilibrium positions of the modified robot. In addition, numerical experiments were carried out using the commercial software ANSYS®, R18.2 based on the finite element theory, to corroborate the results obtained with them. With the proposed modification, an increase of 23.369% in the number of geometric equilibrium configurations is achieved, which integrates the workspace of the modified class 2 tensegrity robot. The novel technique applied to tensegrity robots and the tools developed to increase their workspace apply perfectly to scale the robots presented in this paper.
Subject
Electrical and Electronic Engineering,Mechanical Engineering,Control and Systems Engineering
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