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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: Crawling robots have elicited much attention in recent years due to their stable and efficient locomotionIn this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAsThe SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors.

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0756-0

Abstract: In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

Keywords： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ   

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Ionic Elastomers for Electric Actuators and Sensors Review

Chenrun Feng, C.P. Hemantha Rajapaksha, Antal Jákli

Engineering 2021, Volume 7, Issue 5,   Pages 581-602 doi: 10.1016/j.eng.2021.02.014

Abstract: elastomers have drawn worldwide attention for their advanced functions in batteries, electroactive softStretchable ionic elastomers with dispersed soft ionic moieties such as ionic liquids have gained remarkableattention as soft sensors, in applications such as the wearable devices that are often called electric

Keywords： Soft robots     Ionic electroactive elastomer     Ionic elastomer sensor     Programmable deformation     Liquid    

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Development of soft kernel durum wheat

Craig F. MORRIS

Frontiers of Agricultural Science and Engineering 2019, Volume 6, Issue 3,   Pages 273-278 doi: 10.15302/J-FASE-2019259

Abstract: There are three kernel texture classes in wheat: soft and hard hexaploid ( ), and very hard durum ( subspTypical SKCS values for soft wheat would be around 25 and for durum wheat≥80.Soft kernel durum wheat was created via homeologous recombination using the mutation, which facilitateddurum grain resulted in kernel texture and flour milling characteristics nearly identical to that of softAgronomically, soft durum germplasm showed good potential with moderate grain yield and resistance to

Keywords： soft durum wheat     grain hardness     puroindolines     milling     baking     pasta     noodles    

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract: a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots

Keywords： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Performance of soft-hard-soft (SHS) cement based composite subjected to blast loading with consideration

Jun WU,Xuemei LIU

Frontiers of Structural and Civil Engineering 2015, Volume 9, Issue 3,   Pages 323-340 doi: 10.1007/s11709-015-0301-2

Abstract: This paper presents a combined experimental and numerical study on the damage and performance of a soft-hard-soft

Keywords： high strength concrete (SHS)     engineered cementitious composite     interface     blast test     strain rate effect    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: This paper proposes a novel continuous footholds optimization method for legged robots to expand their

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0678-2

Abstract: their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, softrobots have shown great application potential.robots an important position in the field of soft robots.In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeletonA novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method

Keywords： pneumatic artificial muscles     soft robot     modeling approach     principle of virtual work     external load    

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Analysis of load and adaptability of disc cutters during shield tunneling in soft–hard varied strata

Frontiers of Structural and Civil Engineering 2023, Volume 17, Issue 4,   Pages 533-545 doi: 10.1007/s11709-023-0946-1

Abstract: The disc cutters of shield machines exhibit unsatisfactory adaptability and performance during the soft–hardthe rotation state, cutting performance, and adaptability of disc cutters during shield tunneling in soft–hardThe tangential loads of the disc cutters during the cutting of four typical soft-strata excavation faceA greater penetration is suggested for soft-strata tunneling to allow the disc cutters to rotate smoothly

Keywords： shield tunneling     disc cutter load     laboratory excavation test     numerical calculation     soft–hard varied    

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Risk stratification system for skin and soft tissue infections after allogeneic hematopoietic stem cell

Frontiers of Medicine 2022, Volume 16, Issue 6,   Pages 957-968 doi: 10.1007/s11684-021-0910-1

Abstract: Skin and soft tissue infections (SSTIs) refer to infections involving the skin, subcutaneous tissue,

Keywords： skin and soft tissue infections     hematopoietic stem cell transplantation     risk stratification system    

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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 4, doi: 10.1007/s11465-023-0770-2

Abstract: Soft arms have shown great application potential because of their flexibility and compliance in unstructuredHowever, soft arms made from soft materials exhibit limited cargo-loading capacity, which restricts theirIn this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbagsThe joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbagsThe motion and load performance of the soft arm of the eight-joint module was tested.

Keywords： pneumatic soft arm     soft airbag     deployable origami exoskeleton     bistable characteristics     cargo-loading    

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Crack evolution of soft–hard composite layered rock-like specimens with two fissures under uniaxial compression

Frontiers of Structural and Civil Engineering 2021, Volume 15, Issue 6,   Pages 1372-1389 doi: 10.1007/s11709-021-0772-2

Abstract: image correlation were used to study the spatiotemporal evolution characteristics of crack extension of softHard layers predominantly produce tensile cracks; soft layers produce shear cracks.

Keywords： soft−hard composite layered rock mass     double cracks     crack evolution     acoustic emission     digital image    

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Seismic responses of subway station with different distributions of soft soil in Tianjin

Dejian YANG,Meiling DUAN

Frontiers of Structural and Civil Engineering 2014, Volume 8, Issue 2,   Pages 187-193 doi: 10.1007/s11709-014-0252-z

Abstract: boundary by using ANSYS and analyzed seismic responses of subway station with different distribution of softThe nonlinear dynamic properties of soft soils are modeled by the KINH.and internal force on subway station in the general field soil and five different distributions of softProvide reference for improving the seismic performance of subway stations in Tianjin soft soil.

Keywords： distribution of soft soil     soft soil in Tianjin     seismic response     ANSYS    

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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 61-70 doi: 10.1007/s11465-011-0206-2

Abstract:

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by theHowever, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complextests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots

Keywords： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test    

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Numerical investigation of the ultimate lateral resistance of piles in soft clay

Konstantinos P. TZIVAKOS,Michael J. KAVVADAS

Frontiers of Structural and Civil Engineering 2014, Volume 8, Issue 2,   Pages 194-200 doi: 10.1007/s11709-014-0251-0

Abstract: numerical study on the undrained lateral response of a single, free-head, reinforced concrete pile in softcurves proposed in literature for soft clays are imported into a beam-on-nonlinear-Winkler-foundation

Keywords： laterally loaded     pile     soft clay     p?y curves     finite element method (FEM)    

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Title Author Date Type Operation

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Journal Article

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Journal Article

Ionic Elastomers for Electric Actuators and Sensors

Chenrun Feng, C.P. Hemantha Rajapaksha, Antal Jákli

Journal Article

Development of soft kernel durum wheat

Craig F. MORRIS

Journal Article

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article

Performance of soft-hard-soft (SHS) cement based composite subjected to blast loading with consideration

Jun WU,Xuemei LIU

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Journal Article

Analysis of load and adaptability of disc cutters during shield tunneling in soft–hard varied strata

Journal Article

Risk stratification system for skin and soft tissue infections after allogeneic hematopoietic stem cell

Journal Article

Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Journal Article

Crack evolution of soft–hard composite layered rock-like specimens with two fissures under uniaxial compression

Journal Article

Seismic responses of subway station with different distributions of soft soil in Tianjin

Dejian YANG,Meiling DUAN

Journal Article

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Journal Article

Numerical investigation of the ultimate lateral resistance of piles in soft clay

Konstantinos P. TZIVAKOS,Michael J. KAVVADAS

Journal Article