Stiffness-tuneable limb segment with flexible spine for malleable robots
File(s)ICRA_2019_FINAL.pdf (4.18 MB)
Accepted version
Author(s)
Clark, Angus B
Rojas, Nicolas
Type
Conference Paper
Abstract
Robotic arms built from stiffness-adjustable, con-tinuously bending segments serially connected with revolutejoints have the ability to change their mechanical architectureand workspace, thus allowing high flexibility and adaptation todifferent tasks with less than six degrees of freedom, a conceptthat we call malleable robots. Known stiffening mechanismsmay be used to implement suitable links for these novel roboticmanipulators; however, these solutions usually show a reducedperformance when bending due to structural deformation. Byincluding an inner support structure this deformation can beminimised, resulting in an increased stiffening performance.This paper presents a new multi-material spine-inspired flexiblestructure for providing support in stiffness-controllable layer-jamming-based robotic links of large diameter. The proposedspine mechanism is highly movable with type and range ofmotions that match those of a robotic link using solely layerjamming, whilst maintaining a hollow and light structure. Themechanics and design of the flexible spine are explored, anda prototype of a link utilising it is developed and comparedwith limb segments based on granular jamming and layerjamming without support structure. Results of experimentsverify the advantages of the proposed design, demonstratingthat it maintains a constant central diameter across bendingangles and presents an improvement of more than 203% ofresisting force at 180°.
Date Issued
2019-05
Date Acceptance
2019-01-26
Citation
2019 International Conference on Robotics and Automation (ICRA), 2019, pp.3969-3975
ISBN
9781538660270
ISSN
2577-087X
Publisher
IEEE
Start Page
3969
End Page
3975
Journal / Book Title
2019 International Conference on Robotics and Automation (ICRA)
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)
Grant Number
EP/R020833/1
Source
2019 International Conference on Robotics and Automation (ICRA)
Subjects
Science & Technology
Technology
Automation & Control Systems
Robotics
MANIPULATOR
DESIGN
Publication Status
Published
Start Date
2019-05-20
Finish Date
2019-05-24
Coverage Spatial
Montreal, Canada
Date Publish Online
2019-08-12