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contributor authorLiu
contributor authorSicong;Liu
contributor authorJianhui;Zou
contributor authorKehan;Wang
contributor authorXiaocheng;Fang
contributor authorZhonggui;Yi
contributor authorJuan;Wang
contributor authorZheng
date accessioned2022-08-18T13:10:14Z
date available2022-08-18T13:10:14Z
date copyright6/21/2022 12:00:00 AM
date issued2022
identifier issn1942-4302
identifier otherjmr_14_6_064504.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4287550
description abstractSoft manipulators attract increasing interest in robotic applications involving the unstructured environment and human-robot interaction. The majority of the soft manipulator with fluidic actuators consists of joints that are constructed by parallel actuators, achieving rotation and extension. The inability to output twisting and lateral translations concurrently in the joints hinders the applications of such soft manipulators that require dexterous manipulation. In this work, the tilted actuator soft robotic (TASR) joint with 6DOF mobility, i.e., three rotations and three translations, is studied by kinematic modeling, simulations, and experiments. The 6DOF joint has a lightweight (74.8 g) due to the implementation of soft origami actuators (SOA) and soft-rigid structure. The investigation on the characteristics of the 4-joint assembly recorded maximum in-plane translations over a 70 mm range (70% of its diameter), axial translation over 50 mm (27% of its length), and rotations over 120 deg in all three directions. Kinematic modeling and FEM simulations have been carried out on the mechanical behaviors of the joint. A soft manipulator has been produced to verify the practicality of the joint in constructing the soft robotic systems, with the repetitive accuracy and movements demonstrated in an application scenario. The 6DOF TASR joint showed the potential to be implemented in constructing dexterous and lightweight soft robotic systems, with mass-production readiness.
publisherThe American Society of Mechanical Engineers (ASME)
titleA Six Degrees-of-Freedom Soft Robotic Joint With Tilt-Arranged Origami Actuator
typeJournal Paper
journal volume14
journal issue6
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4054731
journal fristpage64504-1
journal lastpage64504-11
page11
treeJournal of Mechanisms and Robotics:;2022:;volume( 014 ):;issue: 006
contenttypeFulltext


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