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Influence of Elastomeric Tensioned Members on the Characteristics of Compliant Tensegrity Structures in Soft Robotic Applications

  • The use of mechanically prestressed compliant structures in soft robotics is a recently discussed topic. Tensegrity structures, consisting of a set of rigid disconnected compressed members connected to a continuous net of prestressed elastic tensioned members build one specific class of these structures. Robots based on these structures have manifold shape changing abilities and can adapt their mechanical properties reversibly by changing of their prestress state according to specific tasks. In the paper selected aspects on the potential use of elastomer materials in these structures are discussed with the help of theoretical analysis. Therefore, a selected basic tensegrity structure with elastomer members is investigated focusing on the stiffness and shape changing ability in dependence of the nonlinear hyperelastic behavior of the used elastomer materials. The considered structure is compared with a conventional tensegrity structure with linear elastic tensioned members. Finally, selected criterions for the advantageous use of elastomer materials in compliant tensegrity robots are discussed.

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Metadaten
Author:Jhohan ChavezORCiDGND, Philipp Schorr, Tobias Kaufhold, Lena ZentnerORCiD, Klaus Zimmermann, Valter BöhmGND
DOI:https://doi.org/10.1016/j.promfg.2020.11.048
ISSN:2351-9789
Parent Title (English):Procedia Manufacturing
Publisher:Elsevier
Document Type:Article
Language:English
Year of first Publication:2020
Release Date:2022/01/15
Tag:compliant tensegrity structures; elastomers; soft robotics
Volume:52
First Page:289
Last Page:294
Konferenzangabe:5th International Conference on System-Integrated Intelligence
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Begutachtungsstatus:peer-reviewed
OpenAccess Publikationsweg:Gold Open Access- Erstveröffentlichung in einem/als Open-Access-Medium
research focus:Digitalisierung
Licence (German):Creative Commons - CC BY-NC-ND - Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International