MODAL FREQUENCY ANALYSES OF THE VARIABLE STIFFNESS MECHANISM DESIGN OF THE SOFT ROBOTIC SYSTEM

Yıl 2021, Cilt: 5 Sayı: 3, 372 - 389, 30.12.2021

Haydar Şahin

https://doi.org/10.46519/ij3dptdi.961893

Öz

In this study, mechanism design and numerical analysis are investigated and directly simulated through additively manufacturing materials of the thermoplastic polyurethane TPU and ABS. Systematic motion planning of humanoid arm systems improved concerning the designed soft robotic arm-like variable stiffness system through the completed novel methodology for the analysis. Soft robotics variable stiffness for mechanism design is a novel research area. Additionally, the humanoid arm-like variable stiffness mechanism herein is taken as a case study in this technology. The variable stiffness types for soft robotics are inflatable robotic technology, smart materials technology, mechanism technology, and a combination of them. The variable stiffness mechanism has a novel design opportunity via the boundary conditions and the orientation of the initial conditions for soft robotics. The relation between the boundary conditions and variable stiffness is not investigated sufficiently. The novel field of study completed herein, the soft robotics variable stiffness, is a fundamental investigation for further development in the mechanism design. Variable stiffness mechanisms can transmit the translational and rotational motions into required directions with required displacements and applied forces on the multibody systems. The stiffness for the fixed-free structural constraint boundary condition of the specified initial condition orientation is 8 Nm/rd compared to the stiffness value of the 65.6 Nm/rd fixed-fixed end boundary condition.

Anahtar Kelimeler

soft robotic, mechanism, variable stiffness, Humanoid Robots, Modal Frequency Analysis

MODAL FREQUENCY ANALYSES OF THE VARIABLE STIFFNESS MECHANISM DESIGN OF THE SOFT ROBOTIC SYSTEM

Öz

In this study, mechanism design and numerical analysis are investigated and directly simulated through additively manufacturing materials of the thermoplastic polyurethane TPU and ABS. Systematic motion planning of humanoid arm systems improved concerning the designed soft robotic arm-like variable stiffness system through the completed novel methodology for the analysis. Soft robotics variable stiffness for mechanism design is a novel research area. Additionally, the humanoid arm-like variable stiffness mechanism herein is taken as a case study in this technology. The variable stiffness types for soft robotics are inflatable robotic technology, smart materials technology, mechanism technology, and a combination of them. The variable stiffness mechanism has a novel design opportunity via the boundary conditions and the orientation of the initial conditions for soft robotics. The relation between the boundary conditions and variable stiffness is not investigated sufficiently. The novel field of study completed herein, the soft robotics variable stiffness, is a fundamental investigation for further development in the mechanism design. Variable stiffness mechanisms can transmit the translational and rotational motions into required directions with required displacements and applied forces on the multibody systems. The stiffness for the fixed-free structural constraint boundary condition of the specified initial condition orientation is 8 Nm/rd compared to the stiffness value of the 65.6 Nm/rd fixed-fixed end boundary condition.

Anahtar Kelimeler

soft robotic, mechanism, variable stiffness, Humanoid Robots, Modal Frequency Analysis

Kaynakça

• 1. Muscolo, G.G., Hashimoto, K., Takanishi A., Dario, P., “A comparison between two force-position controllers with gravity compensation simulated on a humanoid arm”, Journal of Robotics, Vol. 2013, Pages 1-14, 2013.
• 2. Dizon, J.R.C., Espera, A.H., Chen, Q., Advincula, R.C., “Mechanical characterization of 3D-printed polymer” Additive Manufacturing, Vol. 20, Pages 44-67, 2018.
• 3. Strong, D., Kay, M., Conner, B., Wakefield T., Manogharan G., “Hybrid manufacturing – integrating traditional manufacturers with additive manufacturing (AM) supply chain”, Additive Manufacturing, Vol. 21, Pages 159-173, 2018.
• 4. Stoeffer C., “Conceptual design of a variable stiffness mechanism using parallel redundant actuation”, MS Thesis University of Liège, Liège, 2018.
• 5. Fasoulas, J., Sfakiotakis, M., “Modeling and grasp stability analysis for object manipulation by soft rolling fingertips”, International Journal of Humanoid Robotics, Vol. 11, Issue 3, Pages 1–30, 2014.
• 6. Ye, W., Li, Z., Yang, C., Chen, F, Su, C.Y., “Motion detection enhanced control of an upper limb exoskeleton robot for rehabilitation training”, International Journal of Humanoid Robotics, Vol. 14, Issue 1, Pages 1–17, 2017.
• 7. Vu, V., Liu, Z., Thomas, M., Hazel, B., “Modal analysis of a light-weight robot with a rotating tool installed at the end effector”, Proc IMechE Part C: J Mechanical Engineering Science, Vol. 231, Issue 9, Pages 1664-1676, 2017.
• 8. Sahu, S., Choudhury, B.B, Biswal, B.B., “A vibration nalysis of a 6 axis industrial robot using FEA”, Materials Today: Proceedings. Vol. 4, Pages 2403–2410, 2017.
• 9. Imamura, Y., Ayusawa, K., Yoshida, E., Tanaka, T., “Evaluation framework for passive assistive device based on humanoid experiments”, International Journal of Humanoid Robotics, Vol. 15, Issue 3, Pages 1–25, 2018.
• 10. Xu, H, Ding, X., “Human-like motion planning for a 4-DOF anthropomorphic arm based on arm's inherent characteristics”, International Journal of Humanoid Robotics, Vol. 14, Issue 3, Pages 1–20, 2017.
• 11. Yang, Y, Chen, Y., “3D printing of smart materials for robotics with variable stiffness and position feedback”, in IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, Germany, 2017.
• 12. Sebastian, F., Fu, Q., Santello, M., Polygerinos P., “Soft robotic haptic interface with variable stiffness for rehabilitation of neurologically impaired hand function”, Frontiers in Robotics and AI, Vol. 4, Issue 2, Pages 1–9, 2017.
• 13. Dilibal, S., Sahin, H., Celik, Y., “Experimental and numerical analysis on the bending response of the geometrically gradient soft robotics actuator”, Archives of Mechanics, Vol. 70, Issue 5, Pages 391–404, 2018.
• 14. Sahin H., Guvenc L., “Household robotics - Autonomous devices for vacuuming and lawn mowing”, IEEE Control Systems, Vol. 27, Issue 2, Pages 20 – 96, 2007.
• 15. Calisti M, Picardi G, Laschi C. “Fundamentals of soft robot locomotion”, J. R. Soc. Interface,14:1-16 2017.
• 16. Meng D, She Y, Xu W, Lu, W., Liang, B. “Dynamic modeling and vibration characteristics analysis of flexible-link and flexible-joint space manipulator”, Multibody System Dynamics, Vol. 43, Issue 4, Pages 321-347, 2018.
• 17. Montalvão, J.M., Silva, E., “Modal Analysis and Testing”, 1-34, Vol. 363, Springer, Dordrecht, 1999.
• 18. Howell, L.L., “Compliant mechanisms”, A Wiley-Interscience Publication, 2002.
• 19. Meng, Q., “A design method for flexure-based compliant mechanisms on the basis of stiffness and stress characteristics”, PhD Dissertation, Università di Bologna, Pages 1–111, 2012.
• 20. Kramer, S.N., Saxena, A., “A simple and accurate method for determining large deflections in compliant mechanisms subjected to end forces and moments”, Transactions of the ASME, Vol. 120, Pages 392–400, 1998.
• 21. Piovesan, D., Pierobon, A., DiZio, P., Lackner, J.R., “Experimental measure of arm stiffness during single reaching movements with a time-frequency analysis”, Journal of Neurophysiology, Vol. 110, Issue 10, Pages 2484–2496, 2013.
• 22. Xu, Y., Terekhov, A.V., Latash, M.L., Zatsiorsky, V.M., “Forces and moments generated by the human arm: variability and control”, Experimental Brain Research, Vol. 223, Pages 159–175, 2012.
• 23. Xu, Y., “Forces and moments generated by the human arm: variability and control”, PhD Dissertation, The Pennsylvania State University 1–196, 2014.
• 24. Dasgupta, A., Nakamura Y., “Vibration damping control of robot arm intended for service application in human environment”, in 8th IEEE-RAS International Conference on Humanoid Robots (ICRA) IEEE Press: Daejeon, Korea, 2008.
• 25. Lee, C, Kwak, S., Kwak, J., Oh, S., “Generalization of series elastic actuator configurations and dynamic behavior comparison”, Actuators, Vol. 6, Issue 26, Pages 1-26, 2017.
• 26. Höppner, H., “Analysis of human intrinsic stiffness modulation and its use in variable-stiffness robots”, PhD Dissertation, Munich Technical University, 1–133, 2015.
• 27. Robinson, J.M., “A compliant mechanism-based variable-stiffness joint”, MS Thesis, Brigham Young University, 1–52, 2015.
• 28. Erickson, D., Weber, M., Sharf, I., “Contact stiffness and damping estimation for robotic systems”, The International Journal of Robotics Research, Vol. 22, Issue 1, Pages 41-57, 2003.
• 29. Stasse, O., Flayols, T., “An overview of humanoid robots technologies, Biomechanics of Anthropomorphic Systems”, Vol. 124, Pages 281-310, 2018.
• 30. Wei, Y., Chen, Y., Ren, T., Chen, Q., Yan, C., Yang, Y., Li, Y. “A novel variable stiffness robotic gripper based on integrated soft actuating and particle jamming”, Soft Robotics, Vol. 3, Issue 3, Pages 1–10, 2016.
• 31. White, E. L., Case, J.C., Kramer-Bottiglio, R., “A soft parallel kinematic mechanism”, Soft Robotics, Vol. 5, Issue 1, Pages 1–18, 2018.
• 32. Sapmaz, A.R., Dilibal, S., “Makas-mafsal mekanizma tekniği kullanılarak iki serbestlik dereceli kablolu radyal makas sistemi tasarımı ve eklemeli imalat yöntemi ile üretimi”, Int. J. of 3D Printing Tech. Dig. Ind., Vol. 4, Issue 3, Pages 253-263, 2020.
• 33. Yavuz, İ., Minaz, M. R., Kuncan, M., “1, 1 kw'lık indüksiyon motorun oluk sayısının verime ve torka etkisinin sonlu elemanlar yöntemiyle analizi”, IETS'18 International Engineering and Technology Symposium, Batman, Turkey, 3-5 Mayıs, Pages 555-560, 2018.
• 34. Kaya, Y , Makaracı, M , Bayraklılar, S , Kuncan, M., “GMDH sinir ağı kullanılarak elastomer tabakalarm üzerinde küresel elastomerik yatağın maksimum gerilmesinin tahmini”, Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, Vol. 36, Issue 3, Pages 1331-1346, 2021.