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Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation

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 o...

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Autores principales: Garriga-Casanovas, Arnau, Collison, Ian, Rodriguez y Baena, Ferdinando
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Mary Ann Liebert, Inc., publishers 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6203266/
https://www.ncbi.nlm.nih.gov/pubmed/30161015
http://dx.doi.org/10.1089/soro.2017.0105
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author Garriga-Casanovas, Arnau
Collison, Ian
Rodriguez y Baena, Ferdinando
author_facet Garriga-Casanovas, Arnau
Collison, Ian
Rodriguez y Baena, Ferdinando
author_sort Garriga-Casanovas, Arnau
collection PubMed
description 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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spelling pubmed-62032662018-10-29 Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation Garriga-Casanovas, Arnau Collison, Ian Rodriguez y Baena, Ferdinando Soft Robot Original Articles 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. Mary Ann Liebert, Inc., publishers 2018-10-01 2018-10-10 /pmc/articles/PMC6203266/ /pubmed/30161015 http://dx.doi.org/10.1089/soro.2017.0105 Text en © Arnau Garriga-Casanovas et al. 2018; Published by Mary Ann Liebert, Inc. This Open Access article is distributed under the terms of the Creative Commons License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
spellingShingle Original Articles
Garriga-Casanovas, Arnau
Collison, Ian
Rodriguez y Baena, Ferdinando
Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation
title Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation
title_full Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation
title_fullStr Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation
title_full_unstemmed Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation
title_short Toward a Common Framework for the Design of Soft Robotic Manipulators with Fluidic Actuation
title_sort toward a common framework for the design of soft robotic manipulators with fluidic actuation
topic Original Articles
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6203266/
https://www.ncbi.nlm.nih.gov/pubmed/30161015
http://dx.doi.org/10.1089/soro.2017.0105
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