Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm

Zheyuan Gong; Zhexin Xie; Xingbang Yang; Tianmiao Wang; Li Wen

doi:10.1109/ROBIO.2016.7866373

Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm

Zheyuan Gong
, Zhexin Xie
, Xingbang Yang
, Tianmiao Wang
, Li Wen^*

^*Corresponding author for this work

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

53 Scopus citations

Abstract

In this paper, we present the design, fabrication and the mathematical model of an entire soft robotic arm with three-dimensional (3D) locomotion. We first describe the design of the soft arm based on 3D printed channels that were spatially distributed at the interface of two different silicone elastomeric materials which enable complex 3D motion of the soft arm. Then we demonstrate the workspace of motion at different air pressure levels, and the ability of the mathematic model to predict the three-dimensional movement in free space. We further demonstrate that modifying the texture of the surface of the soft arm can constrain the radial expansion. Finally, we estimate the workspace, location repeatability of the soft arm via actual tests.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	509-514
Number of pages	6
ISBN (Electronic)	9781509043644
DOIs	https://doi.org/10.1109/ROBIO.2016.7866373
State	Published - 2016
Event	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: 3 Dec 2016 → 7 Dec 2016

Publication series

Name	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Conference

Conference	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Country/Territory	China
City	Qingdao
Period	3/12/16 → 7/12/16

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10.1109/ROBIO.2016.7866373

Cite this

Gong, Z., Xie, Z., Yang, X., Wang, T., & Wen, L. (2016). Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 509-514). Article 7866373 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866373

@inproceedings{99a9cc37650f415bbef68b8a5fb8bd2e,

title = "Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm",

abstract = "In this paper, we present the design, fabrication and the mathematical model of an entire soft robotic arm with three-dimensional (3D) locomotion. We first describe the design of the soft arm based on 3D printed channels that were spatially distributed at the interface of two different silicone elastomeric materials which enable complex 3D motion of the soft arm. Then we demonstrate the workspace of motion at different air pressure levels, and the ability of the mathematic model to predict the three-dimensional movement in free space. We further demonstrate that modifying the texture of the surface of the soft arm can constrain the radial expansion. Finally, we estimate the workspace, location repeatability of the soft arm via actual tests.",

author = "Zheyuan Gong and Zhexin Xie and Xingbang Yang and Tianmiao Wang and Li Wen",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 ; Conference date: 03-12-2016 Through 07-12-2016",

year = "2016",

doi = "10.1109/ROBIO.2016.7866373",

language = "英语",

series = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "509--514",

booktitle = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

address = "美国",

}

Gong, Z, Xie, Z, Yang, X , Wang, T & Wen, L 2016, Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm. in 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866373, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Institute of Electrical and Electronics Engineers Inc., pp. 509-514, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, 3/12/16. https://doi.org/10.1109/ROBIO.2016.7866373

Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm. / Gong, Zheyuan; Xie, Zhexin; Yang, Xingbang et al.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 509-514 7866373 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm

AU - Gong, Zheyuan

AU - Xie, Zhexin

AU - Yang, Xingbang

AU - Wang, Tianmiao

AU - Wen, Li

PY - 2016

Y1 - 2016

N2 - In this paper, we present the design, fabrication and the mathematical model of an entire soft robotic arm with three-dimensional (3D) locomotion. We first describe the design of the soft arm based on 3D printed channels that were spatially distributed at the interface of two different silicone elastomeric materials which enable complex 3D motion of the soft arm. Then we demonstrate the workspace of motion at different air pressure levels, and the ability of the mathematic model to predict the three-dimensional movement in free space. We further demonstrate that modifying the texture of the surface of the soft arm can constrain the radial expansion. Finally, we estimate the workspace, location repeatability of the soft arm via actual tests.

AB - In this paper, we present the design, fabrication and the mathematical model of an entire soft robotic arm with three-dimensional (3D) locomotion. We first describe the design of the soft arm based on 3D printed channels that were spatially distributed at the interface of two different silicone elastomeric materials which enable complex 3D motion of the soft arm. Then we demonstrate the workspace of motion at different air pressure levels, and the ability of the mathematic model to predict the three-dimensional movement in free space. We further demonstrate that modifying the texture of the surface of the soft arm can constrain the radial expansion. Finally, we estimate the workspace, location repeatability of the soft arm via actual tests.

UR - https://www.scopus.com/pages/publications/85016790307

U2 - 10.1109/ROBIO.2016.7866373

DO - 10.1109/ROBIO.2016.7866373

M3 - 会议稿件

AN - SCOPUS:85016790307

T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

SP - 509

EP - 514

BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Y2 - 3 December 2016 through 7 December 2016

ER -

Gong Z, Xie Z, Yang X , Wang T , Wen L. Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 509-514. 7866373. (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). doi: 10.1109/ROBIO.2016.7866373

Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm

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