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Anisotropic soft robots based on 3D printed meso-structured materials: design, modeling by homogenization and simulation
Abstract : In this paper, we propose to use new 3D-printed meso-structured materials to build soft robots and we present a modeling pipeline for design assistance and control. These meta-materials can be programmed before printing to target specific mechanical properties, in particular heterogeneous stiffness and anisotropic behaviour. Without changing the external shape, we show that using such meta-material can lead to a dramatic change in the kinematics of the robot. This highlights the importance of modeling. Therefore, to help the design and to control soft robots made of these meso-structured materials, we present a modeling method based on numerical homogenization and Finite Element Method (FEM) that captures the anisotropic deformations. The method is tested on a 3 axis parallel soft robot initially made of silicone. We demonstrate the change in kinematics when the robot is built with meso-structured materials and compare its behavior with modeling results.
Cited literature [17 references]
https://hal.inria.fr/hal-02475589
Contributor : Félix Vanneste Connect in order to contact the contributor
Submitted on : Wednesday, February 12, 2020 - 10:37:13 AM
Last modification on : Friday, January 21, 2022 - 3:12:45 AM
Long-term archiving on: : Wednesday, May 13, 2020 - 2:04:51 PM
Contributor : Félix Vanneste Connect in order to contact the contributor
Submitted on : Wednesday, February 12, 2020 - 10:37:13 AM
Last modification on : Friday, January 21, 2022 - 3:12:45 AM
Long-term archiving on: : Wednesday, May 13, 2020 - 2:04:51 PM
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