A New Soft RCC Device with Pneumatic Regulation
The work described in this paper aims at exploiting the characteristic of a special deformable actuator with rolling membranes to realize a device with defined Remote Center of Compliance (RCC). Starting from theoretical approaches to the definition of the RCC, the authors propose a novel and simple...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-11-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/9/4/98 |
| _version_ | 1797547193644613632 |
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| author | Stefano Bottero Giovanni Gerardo Muscolo Carlo Ferraresi |
| author_facet | Stefano Bottero Giovanni Gerardo Muscolo Carlo Ferraresi |
| author_sort | Stefano Bottero |
| collection | DOAJ |
| description | The work described in this paper aims at exploiting the characteristic of a special deformable actuator with rolling membranes to realize a device with defined Remote Center of Compliance (RCC). Starting from theoretical approaches to the definition of the RCC, the authors propose a novel and simple formulation that can be applied to the soft actuator to determine its RCC. The position of the device’s RCC was determined by creating an asymmetry on the geometry of the device along its axis, i.e., by imposing a longitudinal displacement to the piston with respect to the membranes’ rest condition. FEM simulations of the device behavior were carried out and a first formulation describing the placement of the RCC by varying the operating pressure was found. Finally, a comparison of the theoretical model and FEM results is presented, validating the proposed formulation. |
| first_indexed | 2024-03-10T14:40:51Z |
| format | Article |
| id | doaj.art-44be5213fce245d6a73b5f52c9ef5e95 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T14:40:51Z |
| publishDate | 2020-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-44be5213fce245d6a73b5f52c9ef5e952023-11-20T21:48:14ZengMDPI AGRobotics2218-65812020-11-01949810.3390/robotics9040098A New Soft RCC Device with Pneumatic RegulationStefano Bottero0Giovanni Gerardo Muscolo1Carlo Ferraresi2DIMEAS-Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, ItalyDIMEAS-Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, ItalyDIMEAS-Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, ItalyThe work described in this paper aims at exploiting the characteristic of a special deformable actuator with rolling membranes to realize a device with defined Remote Center of Compliance (RCC). Starting from theoretical approaches to the definition of the RCC, the authors propose a novel and simple formulation that can be applied to the soft actuator to determine its RCC. The position of the device’s RCC was determined by creating an asymmetry on the geometry of the device along its axis, i.e., by imposing a longitudinal displacement to the piston with respect to the membranes’ rest condition. FEM simulations of the device behavior were carried out and a first formulation describing the placement of the RCC by varying the operating pressure was found. Finally, a comparison of the theoretical model and FEM results is presented, validating the proposed formulation.https://www.mdpi.com/2218-6581/9/4/98remote center of complianceRCCvariable stiffness actuatorhyperplastic membraneair pressure chambersoft actuator |
| spellingShingle | Stefano Bottero Giovanni Gerardo Muscolo Carlo Ferraresi A New Soft RCC Device with Pneumatic Regulation Robotics remote center of compliance RCC variable stiffness actuator hyperplastic membrane air pressure chamber soft actuator |
| title | A New Soft RCC Device with Pneumatic Regulation |
| title_full | A New Soft RCC Device with Pneumatic Regulation |
| title_fullStr | A New Soft RCC Device with Pneumatic Regulation |
| title_full_unstemmed | A New Soft RCC Device with Pneumatic Regulation |
| title_short | A New Soft RCC Device with Pneumatic Regulation |
| title_sort | new soft rcc device with pneumatic regulation |
| topic | remote center of compliance RCC variable stiffness actuator hyperplastic membrane air pressure chamber soft actuator |
| url | https://www.mdpi.com/2218-6581/9/4/98 |
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