TY - JOUR
T1 - Discrete Cosserat Approach for Closed-Chain Soft Robots
T2 - Application to the Fin-Ray Finger
AU - Armanini, Costanza
AU - Hussain, Irfan
AU - Iqbal, Muhammad Zubair
AU - Gan, Dongming
AU - Prattichizzo, Domenico
AU - Renda, Federico
N1 - Funding Information:
This work was supported in part by the Khalifa University of Science and Technology under Award CIRA-2020-074, Award FSU-2021-019, and Award RC1-2018-KUCARS and in part by the Research Excellence (AARE) underAward 2018-05.
Publisher Copyright:
© 2004-2012 IEEE.
PY - 2021/12/1
Y1 - 2021/12/1
N2 - The Fin-Ray principle, inspired by the physiology of fish rays, represents the foundation of a large number of robotic devices. However, despite their popularity, there is not any ad-hoc theoretical model technique for the analysis of this family of fingers. This lack is the main motivation of the presented work, which provides the mathematical modeling, analysis, and prototyping of a closed-chain Fin-Ray finger. In this scenario, the contribution of this article is twofold. At one end, we provide a general discrete Cosserat approach for the modeling of closed-chain soft robots which shares the geometrical structure of the rigid robotics counterpart. On the other end, the approach is employed to explore the family of Fin-Ray effect fingers. Finally, an improved design, which is able to conform to contacting surfaces, while maintaining stiffness out of its grasping plane, is fabricated and its performances are compared to those of a previously proposed prototype.
AB - The Fin-Ray principle, inspired by the physiology of fish rays, represents the foundation of a large number of robotic devices. However, despite their popularity, there is not any ad-hoc theoretical model technique for the analysis of this family of fingers. This lack is the main motivation of the presented work, which provides the mathematical modeling, analysis, and prototyping of a closed-chain Fin-Ray finger. In this scenario, the contribution of this article is twofold. At one end, we provide a general discrete Cosserat approach for the modeling of closed-chain soft robots which shares the geometrical structure of the rigid robotics counterpart. On the other end, the approach is employed to explore the family of Fin-Ray effect fingers. Finally, an improved design, which is able to conform to contacting surfaces, while maintaining stiffness out of its grasping plane, is fabricated and its performances are compared to those of a previously proposed prototype.
KW - Manipulators end effectors
KW - Parallel robots
KW - Soft robotics
UR - http://www.scopus.com/inward/record.url?scp=85107201910&partnerID=8YFLogxK
U2 - 10.1109/TRO.2021.3075643
DO - 10.1109/TRO.2021.3075643
M3 - Article
AN - SCOPUS:85107201910
SN - 1552-3098
VL - 37
SP - 2083
EP - 2098
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 6
ER -