Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2021
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866916454784303104 |
|---|---|
| author | Brett, James Surdo, Katrina Lo Hanson, Lauren Pinskier, Joshua Howard, David |
| author_facet | Brett, James Surdo, Katrina Lo Hanson, Lauren Pinskier, Joshua Howard, David |
| contents | Fibre jamming is a relatively new and understudied soft robotic mechanism that has previously found success when used in stiffness-tuneable arms and fingers. However, to date researchers have not fully taken advantage of the freedom offered by contemporary fabrication techniques including multi-material 3D printing in the creation of fibre jamming structures. In this research, we present a novel, modular, multi-material, 3D printed, fibre jamming tendon unit for use in a stiffness-tuneable compliant robotic ankle, or Jammkle. We describe the design and fabrication of the Jammkle and highlight its advantages compared to examples from modern literature. We develop a multiphysics model of the tendon unit, showing good agreement with experimental data. Finally, we demonstrate a practical application by integrating multiple tendon units into a robotic ankle and perform extensive testing and characterisation. We show that the Jammkle outperforms comparative leg structures in terms of compliance, damping, and slip prevention. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2109_04681 |
| institution | arXiv |
| publishDate | 2021 |
| record_format | arxiv |
| spellingShingle | Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle Brett, James Surdo, Katrina Lo Hanson, Lauren Pinskier, Joshua Howard, David Robotics Fibre jamming is a relatively new and understudied soft robotic mechanism that has previously found success when used in stiffness-tuneable arms and fingers. However, to date researchers have not fully taken advantage of the freedom offered by contemporary fabrication techniques including multi-material 3D printing in the creation of fibre jamming structures. In this research, we present a novel, modular, multi-material, 3D printed, fibre jamming tendon unit for use in a stiffness-tuneable compliant robotic ankle, or Jammkle. We describe the design and fabrication of the Jammkle and highlight its advantages compared to examples from modern literature. We develop a multiphysics model of the tendon unit, showing good agreement with experimental data. Finally, we demonstrate a practical application by integrating multiple tendon units into a robotic ankle and perform extensive testing and characterisation. We show that the Jammkle outperforms comparative leg structures in terms of compliance, damping, and slip prevention. |
| title | Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle |
| topic | Robotics |
| url | https://arxiv.org/abs/2109.04681 |