Imperial College London
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ProfessorFerdinandoRodriguez y Baena

Faculty of Engineering, Department of Mechanical Engineering

Co-Director of Hamlyn Centre, Professor of Medical Robotics
 
 
 
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Contact

 

+44 (0)20 7594 7046f.rodriguez Website

 
 
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Location

 

B415CBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Garriga:2018:10.1089/soro.2017.0105,
author = {Garriga, Casanovas A and Collison, I and Rodriguez, y Baena F},
doi = {10.1089/soro.2017.0105},
journal = {Soft Robotics},
pages = {622--649},
title = {Towards a common framework for the design of soft robotic manipulators with fluidic actuation},
url = {http://dx.doi.org/10.1089/soro.2017.0105},
volume = {5},
year = {2018}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Soft robotic manipulators with fluidic actuation are devices with easily deformable structures that comprise a set of chambers that can be pressurized to achieve structural deflection. These devices have experienced a rapid development in recent years, which is not least due to the advantages they offer in terms of robustness, affordability, and compliance. Nowadays, however, soft robotic manipulators  are  designed  mostly  by  intuition,  which  complicates  design  improvement  and hampers  the  advancement  of the  field.  In  this  paper,  a  general  study  of  the the  design  of  soft robotic manipulators with fluidic actuation is presented, using an analytical derivation. The study relies on a novel approach that is applicable to a general design, and thus provides a common framework for the design of soft robots. In the study, two design layouts of interest are first justified, which correspond to extending and contracting devices. Design principles for each of the layouts are subsequently derived, both for planar and 3D scenarios, and considering operation to support any external loading and to provide any desired deflection. These principles are found to agree with the main design trends in literature, although they also highlight the potential for improvement in specific aspects of the design geometry and stiffness distribution. The principles are used to identify the most suitable design for both extending and contracting devices in 2D and 3D, and extract insight into their behavior.. To showcase the use of these design principles, a prototypical scenario in minimally invasive surgery requiring a manipulator segment capable of bending in any direction is defined, where the objective is to maximize its lateral force. The principles are applied to  determine  the most  suitable  design.  These  also  highlight  the  need  for  numerical  analysis  to optimize two design parameters. Finite element simulations are developed, and their results are reported.
AU  - Garriga,Casanovas A
AU  - Collison,I
AU  - Rodriguez,y Baena F
DO  - 10.1089/soro.2017.0105
EP  - 649
PY  - 2018///
SN  - 2169-5172
SP  - 622
TI  - Towards a common framework for the design of soft robotic manipulators with fluidic actuation
T2  - Soft Robotics
UR  - http://dx.doi.org/10.1089/soro.2017.0105
UR  - http://hdl.handle.net/10044/1/60879
VL  - 5
ER  -
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