A Novel Continuum Robot With Stiffness Variation Capability Using Layer Jamming: Design, Modeling, and Validation

Fan, Y; Liu, D; Ye, L

A Novel Continuum Robot With Stiffness Variation Capability Using Layer Jamming: Design, Modeling, and Validation

Fan, Y Liu, D

Ye, L

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Publisher:: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Publication Type:: Journal Article
Citation:: IEEE Access, 2022, 10, pp. 130253-130263
Issue Date:: 2022-01-01

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Field	Value	Language
dc.contributor.author	Fan, Y
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582
dc.contributor.author	Ye, L
dc.date.accessioned	2023-03-09T05:05:12Z
dc.date.available	2023-03-09T05:05:12Z
dc.date.issued	2022-01-01
dc.identifier.citation	IEEE Access, 2022, 10, pp. 130253-130263
dc.identifier.issn	2169-3536
dc.identifier.issn	2169-3536
dc.identifier.uri	http://hdl.handle.net/10453/166804
dc.description.abstract	This paper presents a novel continuum robot (OctRobot-I) that has controllable stiffness variation capability in both the transverse and axial directions. Robot design, stiffness variation analysis and experimental testing are discussed in detail. Stiffness models based on the Euler-Bernoulli beam theory are developed, and then four static deflection cases are analysed. Experiments are conducted with two types of layer jamming sheaths (overlap numbers n =3, 5) and four different vacuum pressures (0kPa, 25kPa, 50kPa, 75kPa) at three different bending angles (0°, 90°, 180°). The results demonstrate that the stiffness changing tendency is in compliance with the derived models and show that the robot has a good stiffness variable capability. With the jamming sheath of n =3, the stiffness ranges (ratios) are 36.4 to 241.7 N/m (6.6) and 92.9 to 19.3×103 N/m (207.8) in the transverse and axial directions, respectively. With the jamming sheath of n =5, the stiffness ranges (ratios) are 65.7 to 398.3 N/m (6.1) and 106.7 to 20.8×103 N/m (194.9) in the transverse and axial directions, respectively. Additionally, the actuating and gripping experiments demonstrate that this robot has good performance in real-world applications.
dc.language	English
dc.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
dc.relation	http://purl.org/au-research/grants/arc/DP200102497
dc.relation.ispartof	IEEE Access
dc.relation.isbasedon	10.1109/ACCESS.2022.3228775
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	08 Information and Computing Sciences, 09 Engineering, 10 Technology
dc.title	A Novel Continuum Robot With Stiffness Variation Capability Using Layer Jamming: Design, Modeling, and Validation
dc.type	Journal Article
utslib.citation.volume	10
utslib.for	08 Information and Computing Sciences
utslib.for	09 Engineering
utslib.for	10 Technology
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - RI - Robotics Institute
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	open_access	*
dc.date.updated	2023-03-09T05:05:10Z
pubs.publication-status	Published
pubs.volume	10

Abstract:

This paper presents a novel continuum robot (OctRobot-I) that has controllable stiffness variation capability in both the transverse and axial directions. Robot design, stiffness variation analysis and experimental testing are discussed in detail. Stiffness models based on the Euler-Bernoulli beam theory are developed, and then four static deflection cases are analysed. Experiments are conducted with two types of layer jamming sheaths (overlap numbers n =3, 5) and four different vacuum pressures (0kPa, 25kPa, 50kPa, 75kPa) at three different bending angles (0°, 90°, 180°). The results demonstrate that the stiffness changing tendency is in compliance with the derived models and show that the robot has a good stiffness variable capability. With the jamming sheath of n =3, the stiffness ranges (ratios) are 36.4 to 241.7 N/m (6.6) and 92.9 to 19.3×103 N/m (207.8) in the transverse and axial directions, respectively. With the jamming sheath of n =5, the stiffness ranges (ratios) are 65.7 to 398.3 N/m (6.1) and 106.7 to 20.8×103 N/m (194.9) in the transverse and axial directions, respectively. Additionally, the actuating and gripping experiments demonstrate that this robot has good performance in real-world applications.

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http://hdl.handle.net/10453/166804