Open AccessAn agile multi-body additively manufactured soft actuator for soft manipulators
Author(s) -
José Fernando Placeres Hernández,
Francisco Ramírez,
Francisco Eugenio López Guerrero
Publication year - 2020
Publication title -
ingenierias
Language(s) - English
Resource type - Journals
ISSN - 1405-0676
DOI - 10.29105/ingenierias23.89-4
Subject(s) - actuator , robot , soft robotics , agile software development , robustness (evolution) , control engineering , mechanical engineering , computer science , soft materials , pneumatic actuator , engineering , materials science , artificial intelligence , nanotechnology , biochemistry , chemistry , software engineering , gene
With the introduction of collaborative robots in production environments, the harm to workers by using traditional robots with rigid links is inherent. A new generation of robots made from flexible soft materials that decreases collision danger by self-deforming actions has been proposed as a promising solution for the human-robot collaboration environments. Recently, by the development of additive manufacture of elastic soft materials, new design opportunities arise for these so-called soft robots. However, robustness that is required for production environments is still not achieved. This paper presents a design approach of a fully additively manufactured three-axis soft pneumatic actuator. For its use in flexible soft robotic manipulator systems, design guidelines, a direct 3D printing process with elastic materials and a low-level PLC semi-automated pressure regulation control system are presented. To validate the proposed design, the actuator is manufactured and tested for maximum contact force, bending motion reaction and its signal response.