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Schematic diagram of soft robotic arm with three cavities in each segment. (a) two-segment structure soft robotic arm including fixed first section, linkage section, end section and two cavity sections. (b) the cross section of soft robotic arm with three cavities.
Source publication
Pneumatic actuate of multi-segment soft robotic arm is a significant structure and has extensive applications. However, the study of the optimal structure and size of multi-segment soft robotic arm has not been achieved. In this study, the finite element method is used to optimized the structure and size of soft robotic arm. We report that the two-...
Context in source publication
Context 1
... soft robotic arm was designed as three types including two-segment, three-segment, and four-segment structure. The total length was L consisted of the fixed first section with length 1 L , the linkage section (one or more, a single length 2 L ) between two cavity sections, and the end section ( 3 L ) were shown in Figure 1. The structure with three cavities in a cavity section was optimized for design. ...
Citations
... Especially in the domain of industrial robot arm designs, topology optimization has been employed to maximize system-level stiffness [24]. Additionally, this approach is combined with principles from material science and the finite element method to conduct structural optimization of the robot arm [25]. Moreover, topology optimization has been employed in conjunction with additive manufacturing techniques for the structural design of the robot arm [26]. ...
Efficient component design holds paramount importance due to the direct impact of material usage on production costs. Conversely, unnecessary mass addition results in increased weight and volume within systems, necessitating optimization efforts to ensure both cost-effectiveness and functional efficiency. Hence, achieving an optimal balance between affordability and performance becomes imperative in realizing parts that meet economic targets effectively. This study focuses on the application of topology optimization to a segment of a robot arm controlled by EMG signals and subjected to specific forces, utilizing Ansys software. The primary aim is to optimize mass and volume parameters while preserving the structural integrity of the robotic limb. The overarching objective is to enhance the overall design of the robot, making it more compact and efficient. This endeavor, coupled with a significant reduction in mass and volume elements within the system, aims to ensure the robot's successful task performance without compromising its functionality. Before commencing the optimization process, comprehensive static, dynamic, and strength analyses of the robot arm segment were conducted. The numerical and graphical outcomes of these analyses were meticulously recorded and evaluated. Subsequently, the optimization process entailed redesigning the part, followed by repeating the same analyses for the revamped version. A comparative assessment between the results obtained from the initial and optimized stages was performed. The detailed analyses revealed a substantial decrease in stress and strain values post-optimization. However, an increase in deformation values suggested potential deviations in certain model parameters from the anticipated results. Furthermore, the investigation unveiled a halving of both the mass and volume of the model, underscoring the potential of topology optimization in enhancing material utilization and structural efficiency. Nonetheless, the observed increase in deformation necessitates a reassessment of the selected parameters to further enhance model performance and achieve the desired mechanical properties.
