Assessing the performance of variable stiffness continuum structures of large diameter
File(s)
Accepted version
Author(s)
Clark, Angus
Rojas, Nicolas
Type
Journal Article
Abstract
Variable stiffness continuum structures of large diameters are suitable for high-capability robots, such as in industrial practices where high loads and human–robot interaction are expected. Existing variable stiffness technologies have focused on application as medical manipulators, and as such have been limited to small diameter designs ( $\sim$ 15 mm). Various performance metrics have been presented for continuum structures thus far, focusing on force resistance, but no universal testing methodology for continuum structures that encapsulates their overall performance has been provided. This letter presents five individual qualities that can be experimentally quantified to establish the overall performance capability of a design with respect to its use as a variable stiffness continuum manipulator. Six large diameter ( $>$ 40 mm) continuum structures are developed following both conventional (granular and layer jamming) and novel (hybrid designs and structurally supported layer jamming) approaches and are compared using the presented testing methodology. The development of the continuum structures is discussed, and a detailed insight into the tested quality selection and experimental methodology is presented. Results of experiments demonstrate the suitability of the proposed approach for assessing variable stiffness continuum capability across the design.
Date Issued
2019-07-01
Date Acceptance
2019-03-05
Citation
IEEE Robotics and Automation Letters, 2019, 4 (3), pp.2455-2462
ISSN
2377-3766
Publisher
Institute of Electrical and Electronics Engineers
Start Page
2455
End Page
2462
Journal / Book Title
IEEE Robotics and Automation Letters
Volume
4
Issue
3
Copyright Statement
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Identifier
https://ieeexplore.ieee.org/document/8668792
Grant Number
EP/R020833/1
Subjects
Science & Technology
Technology
Robotics
Soft Robot Materials and Design
Performance Evaluation and Benchmarking
Flexible Robots
Modelling
Control
and Learning for Soft Robots
SOFT
ROBOTS
0913 Mechanical Engineering
Publication Status
Published
Date Publish Online
2019-03-18