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Research Papers

Screw-Based Modeling of Soft Manipulators With Tendon and Fluidic Actuation

[+] Author and Article Information
Federico Renda

Khalifa University Robotics Institute,
Khalifa University,
Abu Dhabi 127788, UAE
e-mail: federico.renda@kustar.ac.ae

Matteo Cianchetti

The BioRobotics Institute,
Scuola Superiore Sant'Anna,
Pisa 56025, Italy
e-mail: matteo.cianchetti@sssup.it

Haider Abidi

The BioRobotics Institute,
Scuola Superiore Sant'Anna,
Pisa 56025, Italy
e-mail: syedhaiderjawad.abidi@sssup.it

Jorge Dias

Professor
Khalifa University Robotics Institute,
Khalifa University,
Abu Dhabi 127788, UAE
e-mail: jorge.dias@kustar.ac.ae

Lakmal Seneviratne

Professor
Khalifa University Robotics Institute,
Khalifa University,
Abu Dhabi 127788, UAE
e-mail: lakmal.seneviratne@kustar.ac.ae

1Corresponding author.

Manuscript received November 6, 2016; final manuscript received March 22, 2017; published online May 17, 2017. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 9(4), 041012 (May 17, 2017) (8 pages) Paper No: JMR-16-1344; doi: 10.1115/1.4036579 History: Received November 06, 2016; Revised March 22, 2017

A screw-based formulation of the kinematics, differential kinematics, and statics of soft manipulators is presented, which introduces the soft robotics counterpart to the fundamental geometric theory of robotics developed since Brockett's original work on the subject. As far as the actuation is concerned, the embedded tendon and fluidic actuation are modeled within the same screw-based framework, and the screw-system to which they belong is shown. Furthermore, the active and passive motion subspaces are clearly differentiated, and guidelines for the manipulable and force-closure conditions are developed. Finally, the model is validated through experiments using the soft manipulator for minimally invasive surgery STIFF-FLOP.

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Figures

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Fig. 1

Depiction of the kinematics of the piecewise constant strain model

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Fig. 2

Depiction of the tendon and fluidic actuation for one section

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Fig. 3

(Left) relative position and orientation gcSE(3) between the local (micro)body frame and the tangent frame to the cable/chamber. (Right) a particular configuration of the constant distribution actuation load.

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Fig. 4

(a) Screw system generated by all the possible configurations of a constant distribution actuation. (b) “Steinits”-type, and (c) “Caratheodory”-type actuation system that give manipulable soft arm.

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Fig. 5

Soft robotic modular tool used for the model verification. In the reported embodiment, the internal channel has been used to lodge a microcamera transforming the tool into an endoscope. A schematic of one module showing the internal arrangement of the actuating chambers. Reported dimensions: d1 = 3 mm, d2 = 4.5 mm, d3 = 14.8 mm, and L = 45 mm.

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Fig. 6

Comparison between actual chamber pressures and chamber pressures predicted by the model

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