Design, Control and Manufacturing Studies of Soft Robots

Year 2021, Volume: 13 Issue: 1, 74 - 86, 18.01.2021

Seda Yetkin Gonca Ozmen Koca

https://doi.org/10.29137/umagd.706041

Cited By: 1

Abstract

Lately, studies on robotic systems have gained speed in parallel with the development of technology. Since the purpose of these robotic systems is to facilitate human life, most of the systems' inspiration is the daily movements of animals and humans that live in nature.
In this study, a review is made by examining the recent studies on the design, manufacture and research activities of soft robots, which are becoming increasingly important and a new area of robotics. Soft robots as a result of the studies; They are classified as soft robots that can move by crawling, swim, are used for rehabilitation purposes and are used as grippers. In this review article, various innovative techniques and various control systems, power transmission diversity and material properties required during production are explained in soft robots. In addition, a wide variety of soft robots are characterized by the following subcategories; hardware used, methods of control and control systems.

Keywords

Robotics, Soft Robot, Control System, Pneumatic System

Esnek Robotların Tasarım, Kontrol ve İmalat Çalışmaları

Abstract

Son dönemlerde teknolojinin gelişimine paralel olarak robotik sistemlerle ilgili çalışmalar hız kazanmıştır. Bu robotik sistemlerin amacı insan yaşamını kolaylaştırmak olduğu için sistemlerin ilham kaynağının çoğunu tabiatta yaşamını sürdüren hayvanlar ve insanların günlük hareketleri oluşturur.
Bu çalışmada, giderek önem kazanan ve robotiğin yeni bir alanı olan esnek robotların tasarımı, imalatı ve araştırma faaliyetleri üzerine son yıllarda yapılan çalışmalar incelenerek bir derleme yapılmıştır. İncelemeler sonucunda esnek robotlar; sürünerek hareket edebilen, yüzebilen, rehabilitasyon amaçlı kullanılan ve tutucu olarak kullanılan esnek robotlar olarak sınıflandırılmıştır. Bu derleme makalesinde esnek robotlarda çeşitli yenilikçi teknikler ve çeşitli kontrol sistemleri, güç aktarım çeşitliliği ve üretimi esnasında gerekli olan malzeme özellikleri anlatılmaktadır. Ek olarak, çok çeşitli esnek robotlar aşağıdaki alt kategorilere göre karakterize edilmiştir; kullanılan donanım, kontrol edinme şekilleri ve kontrol sistemleri.

Keywords

Robotik, Esnek robot, Kontrol sistem, Pnömatik sistem

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