Design and Modeling of a Soft Robotic bendable module with Artificial Muscle Fibers
Konferenz: ACTUATOR 2022 - International Conference and Exhibition on New Actuator Systems and Applications
29.06.2022 - 30.06.2022 in Mannheim
Tagungsband: GMM-Fb. 101: ACTUATOR 2022
Seiten: 4Sprache: EnglischTyp: PDF
Autoren:
Baltes, Matthias; Kunze, Julian (Intelligent Materials Systems Lab, Center for Mechatronics and Automation Technologies, ZeMA gGmbH, Saarbrücken, Germany)
Prechtl, Johannes; Rizzello, Gianluca (Intelligent Materials Systems Lab, Department of Systems Engineering, Department of Materials Science and Engineering, Saarland University, Saarbrücken, Germany)
Inhalt:
In this work, rolled DE Actuators (RDEAs) are used as main actuator components for developing a novel soft robotic bendable module. The module consists of a combination of two RDEAs, a rigid top platform, and a flexible backbone. Two RDEAs are mounted in a pre-stretched state between the top platform and a base plate, working as an agonist-antagonist muscle pair. The compressed backbone serves as a bi-stable biasing mechanism for the multi degree-of-freedom DE soft robotic structure, and allows to achieve large deflection angles as well as position holding without spending electric energy. In this paper, initial modeling and experimental results of the considered system are presented.