Assessing the performance of variable stiffness continuum structures of large diameter

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Title: Assessing the performance of variable stiffness continuum structures of large diameter
Authors: Clark, A
Rojas, N
Item 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.
Issue Date: 1-Jul-2019
Date of Acceptance: 5-Mar-2019
URI: http://hdl.handle.net/10044/1/68671
DOI: https://dx.doi.org/10.1109/LRA.2019.2905980
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/Funder: Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/R020833/1
Publication Status: Published
Online Publication Date: 2019-03-18
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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