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Basic Investigations on a Compliant 2D Tensegrity Grid for the Use in Soft Robotic Applications
(2024)
The use of compliant tensegrity grids in soft robotic applications is a promising research topic. By using these grids, systems with large shape and stiffness change ability can be realized. In this paper, different tensegrity grid variants, consisting of rigid members indirectly connected via compliant tensioned members, are presented. A selected grid variant is analyzed in more detail for shape adaptation. Therefore the use of the grid as end effector in form-fit grippers is selected as a specific application case. Covariance Matrix Adaptation Evolution Strategies are used to optimize actuators for two given shape function variants and an evaluation is carried out.
Im Betrieb von Förderbändern auftretende Phänomene sind das Bandwandern in Achsrichtung der Walzen und die Bandverformung in der Bandebene [1, S. 142]. Das Bandwandern ist bisher detailliert untersucht [2,3,4], während die Bandverformung Gegenstand weniger Veröffentlichungen ist. Deshalb wird in diesem Artikel eine Methode zur Berechnung der sich im dynamischen Betrieb einstellenden Verformung eines elastischen Förderbandes vorgestellt. Dazu wird ein Mehrkörpersimulations-Modell basierend auf der Lumped-Mass-Modellierung verwendet. Als Untersuchungsbeispiel dient ein Zwei-Walzensystem mit flexiblen und zylindrischen Walzen, sowie ein flexibles Förderband. Es zeigt sich, dass mit der Lumped-Mass-Modellierung eine dynamische Bandverformung, die von der gewählten Diskretisierung abhängt, berechnet werden kann. Aufgrund dieser Abhängigkeit ist es notwendig eine Konvergenzanalyse durchzuführen. Zusätzlich ist darauf zu achten, dass die künstliche Anregung aufgrund der Lumped-Mass-Modellierung nicht mit einer Eigenfrequenz des Modells zusammenfällt.
Many currently available dynamic hand orthoses use articulated connections that have one degree of freedom, such as hinge joints. These orthoses are therefore only able to replicate the multiaxial range of motion of the human hand to a limited extent. A possible solution for replecating the multiaxial movements of the hand is the use of pre-stressed compliant structures as a basis for the orthoses. After a brief description of this concept, the two main first steps by the development, the so called form-finding and the wrist-joint force characterization by hand movements are explained with theoretical analysis based on the static Finite Element Method. The influence of the orthosis parameters, global stiffness and geometric dimensions as well as the influence of the wrist-joint position relative to the orthosis are discussed. Finally, the next planned development steps towards to the first prototype are outlined.
The minitrack contains contributions with a focus on simulation modeling and digital twins and decision making in the context of Industry 4.0. The use of simulation models and digital twins is manifold, from planning to virtual commission and real-time operational decision support. Cyber-physical systems integrate the real world and the virtual world to enable decision making in the age of Industry 4.0. For example, customer decisions and supply disruptions which directly influence manufacturing and logistics systems require immediate decisions. Thus, models must have the capability to support decision making in manufacturing as well as in internal and external logistics in real-time. Methods include discrete-event simulation, discrete-rate simulation, hybrid simulation, system dynamics simulation, the combination of simulation modeling with machine learning or optimization heuristics, prescriptive analytics, and adaptive systems. Furthermore, this minitrack addresses simulation education and simulation models used for education and training in manufacturing and logistics.
In order to determine the influence of the ondulations in fabrics on the damping properties of fiber-reinforced plastics, the structural dynamic properties of fabric- and unidirectionally reinforced plastics are investigated. The free decay behavior of flat beam-like specimens is investigated under fixed-free boundary conditions. As the material damping is consistently higher in fabric-reinforced specimens compared to unidirectionally reinforced ones, a contribution of an additionally acting mesomechanic kinematic in fabric weaves is implied. Based on a degree of ondulation, it is possible to classify the enhancement of the material damping and determine the corresponding energy dissipation. The study provides valuable quantitative relations of the additional damping effect due to the mesomechanic kinematic. Compared to the unidirectionally reinforced material, plain weave enhances the material damping by 37…52% at ˜OPL=0.0133 , whereas twill weave 2/2 enhances it by 31…40% at ˜OT2=0.0098 . The consideration of the findings contributes to a deeper understanding of the visco-elastic dynamic behavior of fabric-reinforced plastics and allows further applications in research, development, and industry.
In this paper a compliant tensegrity structure based on spatially curved compressed members is presented. Due to an internal variation of the prestress state the shape of the structure can be controlled. In particular, a modification of a cylindrical outer shape to a conical form is achieved. Regarding to the applications in mobile robotics this approach enables a steerable two-dimensional rolling locomotion system. Beside the consideration of the underlying non-holonomic constraints a simplified mechanical model an the corresponding equations of motion are derived for a predefined actuation principle. Various numerical simulations are evaluated focusing on the corresponding locomotion behavior. Based on these results a reliable actuation strategy to navigate in two dimensions is proposed.