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Mechanical Systems01:22

Mechanical Systems

231
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
231

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Integrated Design Fabrication and Control of a Bioinspired Multimaterial Soft Robotic Hand.

Samuel Alves1, Mihail Babcinschi1, Afonso Silva1

  • 1University of Coimbra, CEMMPRE, ARISE, Department of Mechanical Engineering, 3030-788 Coimbra, Portugal.

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This study presents a novel bioinspired soft robotic hand, reducing design-fabrication time and cost. The innovative design enhances adaptability and grasping capabilities for wider accessibility.

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Area of Science:

  • Robotics
  • Bioinspired Engineering
  • Materials Science

Background:

  • Soft robotic hands offer compliance and adaptability for complex tasks.
  • Current soft robot development often relies on time-consuming trial-and-error methods.
  • Achieving life-like movements and efficient fabrication remains a challenge.

Purpose of the Study:

  • To propose an integrated design and fabrication method for bioinspired soft robotic hands.
  • To reduce the time and cost associated with soft robotic hand development.
  • To enhance the grasping capabilities and adaptability of soft robotic hands.

Main Methods:

  • Finite Element Analysis (FEA) for multimaterial design and geometry optimization.
  • Fabrication of soft actuator cores using molding techniques.
  • Single-step 3D printing for exoskeleton construction.
  • Development of an ON-OFF controller for precise finger actuation and leak compensation.

Main Results:

  • FEA simulations accurately predicted finger bendability, validated by experimental tests.
  • The soft robotic hand demonstrated effective grasping of diverse objects (varying shapes, weights, sizes).
  • The integrated approach streamlined the design-fabrication process, reducing development time and cost.

Conclusions:

  • The proposed bioinspired soft robotic hand offers a cost-effective and efficient solution.
  • This integrated approach accelerates the development and accessibility of advanced soft robotics.
  • The validated design and control strategy pave the way for more life-like robotic systems.