Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing

Traditional robots are made from hard materials like hard plastic or metal and consist of regular rigid mechanical parts. Using those parts has some limitations, like limited dexterity and lack of flexibility. Some of these limitations could be avoided through using a compliant material, because it...

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Other Authors: Holdar, Mohammad (author)
Format: Others
Language:English
Published: Florida Atlantic University
Subjects:
Online Access:http://purl.flvc.org/fau/fd/FA00013030
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spelling ndltd-fau.edu-oai-fau.digital.flvc.org-fau_408142019-07-04T03:56:48Z Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing FA00013030 Holdar, Mohammad (author) Engeberg, Erik (Thesis advisor) Florida Atlantic University (Degree grantor) College of Engineering and Computer Science Department of Ocean and Mechanical Engineering 82 p. application/pdf Electronic Thesis or Dissertation Text English Traditional robots are made from hard materials like hard plastic or metal and consist of regular rigid mechanical parts. Using those parts has some limitations, like limited dexterity and lack of flexibility. Some of these limitations could be avoided through using a compliant material, because it has higher flexibility and dexterity. It is also safer to be in direct contact with humans. This thesis studies soft pneumatic manipulators (SPMs) that move in multi degrees of freedom (MDOF), which makes them able to perform various functions. The study will include designing, fabricating, and testing three different SPMs with different taper angles -- 0^0, 1^0, and 2^0 -- to measure the effect of varying this geometry on the achievable force by the end effector and the range of bending and elongation. Every single SPM consists of three soft pneumatic chambers to reach unlimited points on its workspace through implementing bending and elongating movements. There are a lot of applications for this kind of soft actuators, like rehabilitation, underwater utilizes, and robots for surgery and rescues. Most soft pneumatic actuators provide one kind of movement, for bending, twisting, or elongating. Combining more than one kind of movement in one soft pneumatic actuator provides considerable contributions to the body of research. The SPMs were controlled and tested to evaluate the achieved force and two kinds of movement, bending and elongating range. The results of each module has been compared with the others to determine which actuator has the best performance. Then a force controller was created to maintain the desired force that was achieved by the end effector. The results indicated that the optimal angle of the SPM was 2^0. Florida Atlantic University Robotics Pneumatic control Actuators--Design and construction Soft robotics Includes bibliography. Thesis (M.S.)--Florida Atlantic University, 2018. FAU Electronic Theses and Dissertations Collection Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder. http://purl.flvc.org/fau/fd/FA00013030 http://rightsstatements.org/vocab/InC/1.0/ https://fau.digital.flvc.org/islandora/object/fau%3A40814/datastream/TN/view/Soft%20Robotics%3A%20Fiber%20Reinforced%20Soft%20Pneumatic%20Multidirectional%20Manipulators%2C%20Designing%2C%20Fabricating%2C%20and%20Testing.jpg
collection NDLTD
language English
format Others
sources NDLTD
topic Robotics
Pneumatic control
Actuators--Design and construction
Soft robotics
spellingShingle Robotics
Pneumatic control
Actuators--Design and construction
Soft robotics
Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing
description Traditional robots are made from hard materials like hard plastic or metal and consist of regular rigid mechanical parts. Using those parts has some limitations, like limited dexterity and lack of flexibility. Some of these limitations could be avoided through using a compliant material, because it has higher flexibility and dexterity. It is also safer to be in direct contact with humans. This thesis studies soft pneumatic manipulators (SPMs) that move in multi degrees of freedom (MDOF), which makes them able to perform various functions. The study will include designing, fabricating, and testing three different SPMs with different taper angles -- 0^0, 1^0, and 2^0 -- to measure the effect of varying this geometry on the achievable force by the end effector and the range of bending and elongation. Every single SPM consists of three soft pneumatic chambers to reach unlimited points on its workspace through implementing bending and elongating movements. There are a lot of applications for this kind of soft actuators, like rehabilitation, underwater utilizes, and robots for surgery and rescues. Most soft pneumatic actuators provide one kind of movement, for bending, twisting, or elongating. Combining more than one kind of movement in one soft pneumatic actuator provides considerable contributions to the body of research. The SPMs were controlled and tested to evaluate the achieved force and two kinds of movement, bending and elongating range. The results of each module has been compared with the others to determine which actuator has the best performance. Then a force controller was created to maintain the desired force that was achieved by the end effector. The results indicated that the optimal angle of the SPM was 2^0. === Includes bibliography. === Thesis (M.S.)--Florida Atlantic University, 2018. === FAU Electronic Theses and Dissertations Collection
author2 Holdar, Mohammad (author)
author_facet Holdar, Mohammad (author)
title Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing
title_short Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing
title_full Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing
title_fullStr Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing
title_full_unstemmed Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing
title_sort soft robotics: fiber reinforced soft pneumatic multidirectional manipulators, designing, fabricating, and testing
publisher Florida Atlantic University
url http://purl.flvc.org/fau/fd/FA00013030
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