가변 강성 엑츄에이터인 재밍 메커니즘의 힘 체인 안정성 분석
Force Chain Stability Analysis in Jamming Mechanism for Variable Stiffness Actuator
1
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.
Abstract
In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.
참고문헌 (16)
- D. Rus, "Design, fabrication and control of soft robots", Nature, 521, pp.467~475 (2015)
- L. Wang, "Soft-material robotics", Found Trends Robot, 5(3), pp.191~259 (2017)
- C. Majidi, "Soft Robtics : A Perspective-Current Trends and Prospects for the Future", Soft Robotics, 1(1), pp.5~11 (2014)
- M M. Manti, "Stiffening in Soft Robotics : A Review of the state of the Art", IEEE Robotics & Automation Magazine, 23(3), pp.93~106 (2016)
- Y. Yang, "Novel Variable-stiffness Robotic Fingers with Built-In Position Feedback", Soft Robotics, 4(4), pp.338~352 (2017)
- B. E. Schubert, "Variable stiffness material based on rigid low-melting-point-alloy microstructures embedded in soft poly(dimethylsiloxane)(PDMS)", RSC Advances, 3(46), pp.24671~24679 (2013)
- J. de Vicente, "Magnetorheological fluids : a review", Soft Matter, 7(8), pp.3701~3710 (2011)
- E. Brown, "Universal robotic gripper based on the jamming of granular material", National Academy of Sciences of the United States of America, 107(44), pp.18809~18814 (2010)
- K. Suzumori, "Long bending rubbe rmechanism combined contracting and extending fluidic actuators", 2013 IEEE, 2013, 4454~4459
- 최재혁, "유연 소재 기반 로봇의 강성 조절을 위한 구조 결합 기반 이중 강성", 로봇학회 논문지, 12(3), pp.263~269 (2017), 한국로봇학회
- 송은정, "입자 크기의 구성 비율에 따른 휨강성 최적화 가능성의 탐구", 로봇학회 논문지, 12(3), pp.332~338 (2017), 한국로봇학회
- N. G. Cheng, "Design and Analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media", 2012 IEEE International Conference on Robotics and Automation, pp.4328~4333 (2012)
- J. F. Peter, "Characterization of force chain in granular material", Physical Review, 72(04), pp.041307~ (2005)
- G. Lois, "Force networks and the dynamic approach to jamming in sheared granular media", A Letters Journal Exploring The Frontiers Of Physics, 80(5), pp.1~5 (2007)
- Y. Wei, "A soft robotic spine with tunable stiffness based on integrated ball joint and particle jamming", Mechatronics, 33, pp.84~92 (2016)
- A. Jiang, "Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling", 2012 IEEE, 2012, 2922~2927