A Parameterized Description of Force Output of Soft Arms in Full Workspace

In this paper, aiming at fully taking advantage of soft manipulators working ability, we propose a parameterized approximating method to characterize their force output in full workspace. We define the Workspace-Load bearing capacity Cloud (WLC) of soft arms and present the method to calculate WLC in the three-dimensional space by linear fitting. At last, finite element analysis is used to validate its effectiveness in characterizing the force output of soft arms in full workspace.

[1]  Hao Jiang,et al.  Design and simulation analysis of a soft manipulator based on honeycomb pneumatic networks , 2016, 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[2]  Cecilia Laschi,et al.  Soft robotics: a bioinspired evolution in robotics. , 2013, Trends in biotechnology.

[3]  Daniel M. Bodily,et al.  Multi-objective design optimization of a soft, pneumatic robot , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[4]  Y. Yao,et al.  Maximum allowable load of flexible manipulators for given dynamic trajectory , 1993 .

[5]  Alexander Verl,et al.  The Bionic Handling Assistant: a success story of additive manufacturing , 2011 .

[6]  Ian D. Walker,et al.  Design and experimental testing of the OctArm soft robot manipulator , 2006, SPIE Defense + Commercial Sensing.

[7]  Sarosh H. Patel,et al.  Manipulator Performance Measures - A Comprehensive Literature Survey , 2015, J. Intell. Robotic Syst..

[8]  D. Rus,et al.  Design, fabrication and control of soft robots , 2015, Nature.

[9]  Moharam Habibnejad Korayem,et al.  Analysis of wheeled mobile flexible manipulator dynamic motions with maximum load carrying capacities , 2004, Robotics Auton. Syst..

[10]  Ian D. Walker,et al.  Soft robotics: Biological inspiration, state of the art, and future research , 2008 .

[11]  Bahram Ravani,et al.  Dynamic Load Carrying Capacity of Mechanical Manipulators—Part I: Problem Formulation , 1988 .

[12]  MajidiCarmel,et al.  Soft Robotics: A Perspective—Current Trends and Prospects for the Future , 2014 .