Design and Fabrication of a Bio-inspired Soft Robotic Arm for Underwater Manipulation

Abstract

This thesis presents the design, modeling, and experimental validation of a soft manipulator capable of complex shape deformations through utilizing pressurized air inside an air chamber and tension exerted by a thread constraint applied on the manipulator’s surface. The manipulator's behavior is accurately predicted using a detailed mathematical model based on the Geometric Variable Strain (GVS) approach. Experimental validation confirms the model's accuracy in predicting tip positions and shape deformations under varying pressure conditions. We demonstrate the manipulator's adaptability in navigating complex underwater environments by formulating inverse Kinetostatics problems, enabling precise regulation of the manipulator’s final tip position and obstacle avoidance. Overall, this research contributes to advancing soft robotics and opens doors to new applications in diverse fields.

Date of Award	1 May 2024
Original language	American English
Supervisor	Federico Renda (Supervisor)