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Screw theory-based stiffness analysis for a fluidic-driven soft robotic manipulator

Shi, J; Frantz, J; Shariati, A; Shiva, A; Dai, JS; Martins, D; Wurdemann, H; (2021) Screw theory-based stiffness analysis for a fluidic-driven soft robotic manipulator. In: Proceedings of the 2021 International Conference on Robotics and Automation (ICRA 2021). IEEE: Xi'an, China. (In press). Green open access

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Abstract

Soft robotic manipulators have been created and investigated for a number of applications due to their advantages over rigid robots. In minimally invasive surgery, for instance, soft robots have successfully demonstrated a number of benefits due to the compliant and flexible nature of the material they are made of. However, these type of robots struggle with performing tasks that require on-demand stiffness i.e. exerting higher forces to the surrounding environment. A number of semi-active and active mechanisms have been investigated to change and control the stiffness of soft robotic manipulators. Embedding these mechanisms in soft manipulators for spacerestricted applications can be challenging though. To better understand the inherent passive stiffness properties of soft manipulators, we propose a screw theory-based stiffness analysis for fluidic-driven continuum soft robotic manipulators. First, we derive the forward kinematics based on a parameterbased piece-wise constant curvature model. It is worth noting, our stiffness analysis can be conducted based on any freespace forward kinematic model. Then our stiffness analysis and mapping methodology is conducted based on screw theory. Initial results of our approach demonstrate the feasibility comparing computational and experimental data.

Type: Proceedings paper
Title: Screw theory-based stiffness analysis for a fluidic-driven soft robotic manipulator
Event: 2021 International Conference on Robotics and Automation (ICRA 2021)
Open access status: An open access version is available from UCL Discovery
Publisher version: http://www.icra2021.org/
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Chemical Engineering
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10125068
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