Anisotropic soft robots based on 3D printed meso-structured materials: design, modeling by homogenization and simulation - Archive ouverte HAL Access content directly
Journal Articles IEEE Robotics and Automation Letters Year : 2020

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

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Félix Vanneste
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  • PersonId : 1064686
Olivier Goury
Sylvain Lefebvre
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  • PersonId : 861797
Christian Duriez

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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Dates and versions

hal-02475589 , version 1 (12-02-2020)

Identifiers

Cite

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, 2020, 5 (2), pp.2380-2386. ⟨10.1109/LRA.2020.2969926⟩. ⟨hal-02475589⟩
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