SHAPE PROGRAMMING USING SOFT ROBOT PRIMITIVES

Abstract

Exploring beyond the conventional design methodology of soft robots, this project introduces fabric-based soft actuator modules with primitive morphologies, which are analogous of basic geometrical polygons – trilateral and quadrilateral. The two modules are Inflatable Beam (IB) module and Fabric-based Rotary Actuator (FRA) module. IB module is of rectangular block form, which is used to provide structural function. FRA module is designed with origami-inspired V-shaped pleats, which create a trilateral outline. Upon pressurization, the pleats unfold, which enables propagation of angular displacement of FRA module. This allows FRA module to be implemented as mobility unit in the larger assembly of pneumatic structures. These basic actuator modules allow us to build different types of structures. Using the IB and FRA modules of various dimensions, a soft pneumatic robotic limb with an end effector was developed. 2 versions of the Textile-based Robotic Arm (TERA) of variable DOFs were developed.