Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation.
Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation.
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DOI：
10.1089/soro.2017.0105
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发表时间：
2018-10
期刊：
影响因子：
7.9
通讯作者：
Rodriguez Y Baena F
中科院分区：
文献类型：
--
作者：
Garriga-Casanovas A;Collison I;Rodriguez Y Baena F
具有流体驱动的软机器人操作器是具有容易变形的结构的设备，这些设备包括一组腔，这些腔可以被加压以实现结构变形。这些设备在最近几年经历了快速的发展，这不仅仅是因为它们在坚固性、可负担性和合规性方面提供的优势。然而，如今的软机器人大多是凭直觉设计的，这使得设计改进变得复杂，并阻碍了该领域的进步。本文采用解析推导的方法，对流体驱动软机械臂的设计进行了全面的研究。这项研究依赖于一种适用于一般设计的新方法，从而为软机器人的设计提供了一个通用的框架。在这项研究中，首先证明了两种令人感兴趣的设计布局的合理性，这两种布局对应于延伸和收缩设备。随后推导了每个布局的设计原则，包括平面和三维场景，并考虑了支持任何外部载荷和提供任何所需挠度的操作。这些原则被发现与文献中的主要设计趋势一致，尽管它们也强调了在设计几何和刚度分布的特定方面的改进潜力。这些原则被用来确定最适合在2D和3D中扩展和收缩设备的设计，并提取对其行为的洞察。为了展示这些设计原则的使用，定义了微创外科手术中的一个典型场景，该场景需要一个能够向任何方向弯曲的机械臂节段，其中的目标是最大化其侧向力。应用这些原则来确定最合适的设计。这些也突显了用数值分析来优化两个设计参数的必要性。进行了有限元模拟，并给出了模拟结果。其中最相关的事实是，带有加压流体的横截面面积应该最大化，设计中的刚度应该选择为最大限度地减少结构拉伸。模拟得到了最优设计，比现有的参考设计提供了更大的力。这些模拟也为这项研究提供了验证。
Soft robotic manipulators with fluidic actuation are devices with easily deformable structures that comprise a set of chambers that can be pressurized to achieve structural deflection. These devices have experienced a rapid development in recent years, which is not least due to the advantages they offer in terms of robustness, affordability, and compliance. Nowadays, however, soft robotic manipulators are designed mostly by intuition, which complicates design improvement and hampers the advancement of the field. In this article, a general study of the design of soft robotic manipulators with fluidic actuation is presented using an analytical derivation. The study relies on a novel approach that is applicable to a general design and thus provides a common framework for the design of soft robots. In the study, two design layouts of interest are first justified, which correspond to extending and contracting devices. Design principles for each of the layouts are subsequently derived, both for planar and 3D scenarios, and considering operation to support any external loading and to provide any desired deflection. These principles are found to agree with the main design trends in the literature, although they also highlight the potential for improvement in specific aspects of the design geometry and stiffness distribution. The principles are used to identify the most suitable design for both extending and contracting devices in 2D and 3D and extract insight into their behavior. To showcase the use of these design principles, a prototypical scenario in minimally invasive surgery requiring a manipulator segment capable of bending in any direction is defined, where the objective is to maximize its lateral force. The principles are applied to determine the most suitable design. These also highlight the need for numerical analysis to optimize two design parameters. Finite element simulations are developed, and their results are reported. Among the most relevant is the fact that the cross-sectional area with pressurized fluid should be maximized and that the stiffness in the design should be selected to minimize structural stretching. The simulations yield the optimal design, which offers higher force than existing, reference ones. The simulations also provide verification for the study.
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