Towards a constraint-based design of soft mechanisms

Sreeshankar Satheeshbabu, Girish Krishnan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Soft compliant robots and mechanisms have generated great interest due to their adaptability, and inherently safe operation. However, a systematic synthesis methodology for these devices has always remained elusive owing to complexities in geometry, and nonlinearities in deformation and material properties. This paper builds the groundwork towards a constraint based design (CBD) method for a unique class of soft robotic building blocks known as fluid-filled fiber-reinforced elastomer enclosures (FREEs). First, the constraint behavior of FREEs with varying fiber angles is mapped using an automated mobility analysis framework that is based on matrix-based kinetostatic methods. Specifically, such an analysis seeks to establish the constraint behavior of FREEs as a function of not just the global geometry, but also its local anisotropic material constituents. Then, the paper demonstrates the principle of reconfigurable constraint by combining several FREEs in series in accordance to the rules of constraint-based design. Eventual extension to actuating FREEs will enable a comprehensive synthesis methodology for soft robots.

Original languageEnglish (US)
Title of host publication40th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791850152
DOIs
StatePublished - Jan 1 2016
EventASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States
Duration: Aug 21 2016Aug 24 2016

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5A-2016

Other

OtherASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
CountryUnited States
CityCharlotte
Period8/21/168/24/16

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Fingerprint Dive into the research topics of 'Towards a constraint-based design of soft mechanisms'. Together they form a unique fingerprint.

Cite this