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Anisotropic soft robots based on 3D printed meso-structured materials: design, modeling by homogenization and simulation

Félix Vanneste 1 Olivier Goury 1 Jonas Martinez 2 Sylvain Lefebvre 3 Hervé Delingette 4 Christian Duriez 1
1 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 ALICE - Geometry and Lighting
Inria Nancy - Grand Est, LORIA - ALGO - Department of Algorithms, Computation, Image and Geometry
3 MFX - Matter from Graphics
Inria Nancy - Grand Est, LORIA - ALGO - Department of Algorithms, Computation, Image and Geometry
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.
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https://hal.inria.fr/hal-02475589
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Submitted on : Wednesday, February 12, 2020 - 10:37:13 AM
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Félix Vanneste, Olivier Goury, Jonas Martinez, Sylvain Lefebvre, Hervé Delingette, et al.. Anisotropic soft robots based on 3D printed meso-structured materials: design, modeling by homogenization and simulation. IEEE Robotics and Automation Letters, IEEE 2020, 5 (2), pp.2380-2386. ⟨10.1109/LRA.2020.2969926⟩. ⟨hal-02475589⟩

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