TY - GEN
T1 - Design, Characterization, and Dynamic Modeling of BEAST
T2 - 5th IEEE International Conference on Soft Robotics, RoboSoft 2022
AU - Tao, Weijia
AU - Qiao, Zhi
AU - Zhang, Wenlong
N1 - Funding Information:
This work was supported by the National Science Foundation under Grant CMMI-1800940. W. Tao and W. Zhang are with The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, 85212, USA. Email: {wtao11,wenlong.zhang}@asu.edu Z. Qiao is with the School for Engineering of Matter, Transport, and Energy, Arizona State University, Tempe, AZ, 85287, USA. Email: zqiao7@asu.edu *Address all correspondence to this author.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Recent work in fluid-driven soft robots has demonstrated the potential to achieve high power-to-weight ratios, low fabrication costs, and improved safety, making them well suited for interactive tasks. However, the low speed of pneumatic actuation prevents use of these robots in more dynamic tasks. This paper aims to design, characterize, and model a bistable elastomeric actuator for swift tasks (BEAST). This actuator enables both fast actuation and mechanical compliance, and is designed by integrating silicone and polyethylene terephthalate (PET) in a bendy straw structure. The BEAST contains three states - compressed, natural, and stretched states. Two operation modes - compressed and stretched modes, are defined to model the continuous elongation dynamics before and after the quickly switching around the natural state. A set of design rules and a novel fabrication method are presented to develop the BEAST. The actuator characterization shows that the maximum extension ratio, snapping speed, and output force of the BEAST to be 0.58, 1.5m/s, and 48N, respectively. A hybrid linear parameter varying (HLPV) model is developed to describe the pressure-dependent dynamics of the actuator. The actuators are evaluated in an object sorting task where both fast and gentle behaviors are demonstrated.
AB - Recent work in fluid-driven soft robots has demonstrated the potential to achieve high power-to-weight ratios, low fabrication costs, and improved safety, making them well suited for interactive tasks. However, the low speed of pneumatic actuation prevents use of these robots in more dynamic tasks. This paper aims to design, characterize, and model a bistable elastomeric actuator for swift tasks (BEAST). This actuator enables both fast actuation and mechanical compliance, and is designed by integrating silicone and polyethylene terephthalate (PET) in a bendy straw structure. The BEAST contains three states - compressed, natural, and stretched states. Two operation modes - compressed and stretched modes, are defined to model the continuous elongation dynamics before and after the quickly switching around the natural state. A set of design rules and a novel fabrication method are presented to develop the BEAST. The actuator characterization shows that the maximum extension ratio, snapping speed, and output force of the BEAST to be 0.58, 1.5m/s, and 48N, respectively. A hybrid linear parameter varying (HLPV) model is developed to describe the pressure-dependent dynamics of the actuator. The actuators are evaluated in an object sorting task where both fast and gentle behaviors are demonstrated.
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U2 - 10.1109/RoboSoft54090.2022.9762223
DO - 10.1109/RoboSoft54090.2022.9762223
M3 - Conference contribution
AN - SCOPUS:85129923541
T3 - 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022
SP - 390
EP - 395
BT - 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 4 April 2022 through 8 April 2022
ER -