Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Herausgeber (Verlag) | Institute of Electrical and Electronics Engineers Inc. |
| Seiten | 6484-6490 |
| Seitenumfang | 7 |
| ISBN (elektronisch) | 9781665491907 |
| ISBN (Print) | 978-1-6654-9191-4 |
| Publikationsstatus | Veröffentlicht - 2023 |
| Veranstaltung | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 - Detroit, USA / Vereinigte Staaten Dauer: 1 Okt. 2023 → 5 Okt. 2023 |
Publikationsreihe
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|---|
| ISSN (Print) | 2153-0858 |
| ISSN (elektronisch) | 2153-0866 |
Abstract
Soft Robotics has established itself as an integral field in the broader discipline of general robotics through multiple advantages like inherent safety, adaptable morphology, and energy- and weight efficiency. Especially in environments hostile to humans and classical robots like the deep sea, soft robotic structures made out of silicone and actuated by seawater have numerous advantages. An application with a huge scientific and commercial potential for soft robotic solutions is suction sampling for marine geology in depths of up to 6000 m. In this paper, we propose a single channel soft robotic actuator that is able to bend into six directions while absorbing process forces. By embedding a low melting point alloy (LMPA) acting as switchable strain-limiting structures, the actuator is capable of hexa-planar bending of up to 40° and elongation of 30 % with only one valve used for actuation. In addition, the LMPA chambers enable a stiffening factor of 4.1 and locking the actuator in its bending state for energy efficient usage in robotic deep-sea suction sampling.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Software
- Informatik (insg.)
- Maschinelles Sehen und Mustererkennung
- Informatik (insg.)
- Angewandte Informatik
Ziele für nachhaltige Entwicklung
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- BibTex
- RIS
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers Inc., 2023. S. 6484-6490 (IEEE International Conference on Intelligent Robots and Systems).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling
AU - Peters, Jan
AU - Sourkounis, Cora Maria
AU - Wiese, Mats
AU - Kwasnitschka, Tom
AU - Raatz, Annika
N1 - Funding Information: *Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under grant no. 498342743. 1Jan Peters, Cora Maria Sourkounis, Mats Wiese and Annika Raatz are with the Institute of Assembly Technology, University of Hannover, Hannover, Germany peters@match.uni-hannover.de 2Tom Kwasnitschka is with the GEOMAR Helmholtz Centre for Ocean Research Kiel, Kiel, Germany
PY - 2023
Y1 - 2023
N2 - Soft Robotics has established itself as an integral field in the broader discipline of general robotics through multiple advantages like inherent safety, adaptable morphology, and energy- and weight efficiency. Especially in environments hostile to humans and classical robots like the deep sea, soft robotic structures made out of silicone and actuated by seawater have numerous advantages. An application with a huge scientific and commercial potential for soft robotic solutions is suction sampling for marine geology in depths of up to 6000 m. In this paper, we propose a single channel soft robotic actuator that is able to bend into six directions while absorbing process forces. By embedding a low melting point alloy (LMPA) acting as switchable strain-limiting structures, the actuator is capable of hexa-planar bending of up to 40° and elongation of 30 % with only one valve used for actuation. In addition, the LMPA chambers enable a stiffening factor of 4.1 and locking the actuator in its bending state for energy efficient usage in robotic deep-sea suction sampling.
AB - Soft Robotics has established itself as an integral field in the broader discipline of general robotics through multiple advantages like inherent safety, adaptable morphology, and energy- and weight efficiency. Especially in environments hostile to humans and classical robots like the deep sea, soft robotic structures made out of silicone and actuated by seawater have numerous advantages. An application with a huge scientific and commercial potential for soft robotic solutions is suction sampling for marine geology in depths of up to 6000 m. In this paper, we propose a single channel soft robotic actuator that is able to bend into six directions while absorbing process forces. By embedding a low melting point alloy (LMPA) acting as switchable strain-limiting structures, the actuator is capable of hexa-planar bending of up to 40° and elongation of 30 % with only one valve used for actuation. In addition, the LMPA chambers enable a stiffening factor of 4.1 and locking the actuator in its bending state for energy efficient usage in robotic deep-sea suction sampling.
UR - http://www.scopus.com/inward/record.url?scp=85182522513&partnerID=8YFLogxK
U2 - 10.1109/IROS55552.2023.10341262
DO - 10.1109/IROS55552.2023.10341262
M3 - Conference contribution
AN - SCOPUS:85182522513
SN - 978-1-6654-9191-4
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6484
EP - 6490
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Y2 - 1 October 2023 through 5 October 2023
ER -