The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Force Chain Stability Analysis in Jamming Mechanism for Variable Stiffness Actuator

가변 강성 엑츄에이터인 재밍 메커니즘의 힘 체인 안정성 분석

  • Lee, Jeongsu (Mechanical Engineering, Sungkyunkwan University) ;
  • Cho, Youngjun (Mechanical Engineering, Sungkyunkwan University) ;
  • Koo, Jachoon (Mechanical Engineering, Sungkyunkwan University)
  • Received : 2019.08.29
  • Accepted : 2019.10.14
  • Published : 2019.11.30
Download PDF
⟨ Previous Next ⟩

Abstract

In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.

Keywords

References

  1. D. Rus and M. T. Tolley, "Design, fabrication and control of soft robots," Nature, vol. 521, pp. 467-475, May, 2015. https://doi.org/10.1038/nature14543
  2. L. Wang, S. G. Nurzaman, and F. Iida, "Soft-material robotics", Found Trends Robot, vol. 5, no. 3, pp. 191-259, 2017. https://doi.org/10.1561/2300000055
  3. C. Majidi, "Soft Robtics : A Perspective-Current Trends and Prospects for the Future," Soft Robotics, vol. 1, no. 1, pp.5-11, 2014. https://doi.org/10.1089/soro.2013.0001
  4. M M. Manti, V. Cacucciolo, and M. Cianchetti, "Stiffening in Soft Robotics: A Review of the state of the Art," IEEE Robotics & Automation Magazine, vol. 23, no. 3, pp. 93-106, Sept., 2016. https://doi.org/10.1109/MRA.2016.2582718
  5. Y. Yang, Y. Chen, Y. Li, Z. Wang, and Y. Li, "Novel Variable-stiffness Robotic Fingers with Built-In Position Feedback," Soft Robotics, vol. 4, no. 4, pp. 338-352, 2017. https://doi.org/10.1089/soro.2016.0060
  6. B. E. Schubert and D. Floreano, "Variable stiffness material based on rigid low-melting-point-alloy microstructures embedded in soft poly (dimethylsiloxane) (PDMS)," RSC Advances, vol. 3, no. 46, pp. 24671-24679, 2013. https://doi.org/10.1039/c3ra44412k
  7. J. de Vicente, D. J. Klingenberg, and R. Hidalgo-Alvarez, "Magnetorheological fluids: a review," Soft Matter, vol. 7, no. 8, pp. 3701-3710, 2011. https://doi.org/10.1039/c0sm01221a
  8. E. Brown, N. Rodenberg, J. Amend, A. Mozeika, E. Steltz, M. R. Zakin, H. Lipson, and H. M. Jaeger, "Universal robotic gripper based on the jamming of granular material," National Academy of Sciences of the United States of America, vol. 107, no. 44, pp. 18809-18814, 2010. https://doi.org/10.1073/pnas.1003250107
  9. K. Suzumori, S. Wakimoto, K. Miyoshi, and K. Iwata, "Long bending rubbe rmechanism combined contracting and extending fluidic actuators," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 4454-4459, 2013.
  10. J.-H. Choi, D.-Y. Lee, and K.-J. Cho, "Dual-Stiffness by Combined Structures for Rigidity-Tuning of Soft Robot," Journal of Korea Robotics Society, vol. 12, no. 3, pp. 263-269, Sept., 2017. https://doi.org/10.7746/jkros.2017.12.3.263
  11. E.-J. Song, Y.-M. Lee, H.-P. Moon, H.-R. Choi, and J.-C. Koo, "Optimality Investigation of Bending Stiffness According to Particle Size Distribution," Journal of Korea Robotics Society, vol. 12, no. 3, pp. 332-338, Jul., 2017. https://doi.org/10.7746/jkros.2017.12.3.332
  12. N. G. Cheng, M. B. Lobovsky, S. J. Keating, A. M. Setapen, K. I. Gero, A. E. Hosoi, K. D. Iagnemma, "Design and Analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media," 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA, pp. 4328-4333, 2012.
  13. J. F. Peter, M. Muthuswamy, J. Wibowo, and A. Tordesillas, "Characterization of force chain in granular material," Physical Review, vol. 72, no. 04, pp. 041307, Oct., 2005. https://doi.org/10.1103/PhysRevB.72.041307
  14. G. Lois and J. M. Carlson, "Force networks and the dynamic approach to jamming in sheared granular media," A Letters Journal Exploring The Frontiers Of Physics, vol. 80, no. 5, pp. 1-5, 2007.
  15. Y. Wei, Y. Chen, Y. Yang, and Y. Li, "A soft robotic spine with tunable stiffness based on integrated ball joint and particle jamming," Mechatronics, vol. 33, pp. 84-92, Feb., 2016. https://doi.org/10.1016/j.mechatronics.2015.11.008
  16. A. Jiang, G. Xynogalas, P. Dasgupta, K. Althoefer, and T. Nanayakkara, "Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling," 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, pp. 2922-2927, 2012.