TY - GEN
T1 - Shape change propagation through soft curved materials for dynamically-tuned paddling robots
AU - Jiang, Yuhao
AU - Sharifzadeh, Mohammad
AU - Aukes, Daniel M.
N1 - Funding Information:
This material is based upon work supported by the National Science Foundation under Grant No. 1935324. 1School for Engineering of Matter, Transport and Energy, Fulton Schools of Engineering, Arizona State University, Tempe, AZ, 85281, USA yuhao92@asu.edu 2The Polytechnic School, Fulton Schools of Engineering, Arizona State University, Mesa, AZ, 85212, USA *Address all correspondence to this author. danaukes@asu.edu
Publisher Copyright:
© 2021 IEEE.
PY - 2021/4/12
Y1 - 2021/4/12
N2 - This paper introduces a method of transmitting actuation forces through soft, curved materials for use in swimming applications. This concept leverages the mechanics of materials to generate highly nonlinear stiffness and buckling behavior that induces an asymmetric paddling gait in the end-effector, a locomotion strategy seen throughout biology. This approach can be used to simplify actuation signals in soft robotic systems. A soft tubular swimming device has thus been developed which utilizes the proposed shape propagation concept; it is actuated by a soft pneumatic actuator which has been adapted to be co-printed within the tubular geometry and change the tube's curvature when inflated. This work is validated experimentally as well as through the use of FEA and dynamic models, which tell us how altering various design geometry and dynamic parameters can play a role in generating non-zero forward thrust and positive work on the environment. The final, 40 mm long prototype reaches 53 mm/s, 1.33 body lengths per second, when swimming underwater.
AB - This paper introduces a method of transmitting actuation forces through soft, curved materials for use in swimming applications. This concept leverages the mechanics of materials to generate highly nonlinear stiffness and buckling behavior that induces an asymmetric paddling gait in the end-effector, a locomotion strategy seen throughout biology. This approach can be used to simplify actuation signals in soft robotic systems. A soft tubular swimming device has thus been developed which utilizes the proposed shape propagation concept; it is actuated by a soft pneumatic actuator which has been adapted to be co-printed within the tubular geometry and change the tube's curvature when inflated. This work is validated experimentally as well as through the use of FEA and dynamic models, which tell us how altering various design geometry and dynamic parameters can play a role in generating non-zero forward thrust and positive work on the environment. The final, 40 mm long prototype reaches 53 mm/s, 1.33 body lengths per second, when swimming underwater.
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U2 - 10.1109/RoboSoft51838.2021.9479208
DO - 10.1109/RoboSoft51838.2021.9479208
M3 - Conference contribution
AN - SCOPUS:85114203813
T3 - 2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021
SP - 230
EP - 237
BT - 2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Soft Robotics, RoboSoft 2021
Y2 - 12 April 2021 through 16 April 2021
ER -