Simulationsbasiertes Vorgehen zur anwendungsorientierten Variantenauslegung hyperelastischer, bionischer Gelenkantriebe

DFX 2016: Proceedings of the 27th Symposium Design for X, 5-6 October 2016, Jesteburg, Germany

Year: 2016
Editor: Dieter Krause, Kristin Paetzold, Sandro Wartzack
Author: Landkammer, Stefan; Schneider, Daniel; Winter, Florian; Hornfeck, Rüdiger
Series: DfX
Institution: Technische Hochschule Nürnberg
Section: Simulation
Page(s): 101-110
ISBN: 978-3-946094-09-8

Abstract

Flexibility of inherent compliant robotic joints helps to avoid injuries in case of intended or unintended contact between robots and human. Therefore, soft-actuated robotic joints are becoming increasingly important for robots with expected Human-Robot-Interaction. But the highly nonlinear behavior (hysteresis, load velocity dependence) of soft materials complicates an exact and reliable prediction of the joint angle characteristic, especially if one actuator should be usable in different areas, from elder care to industrial tasks. Therefore, a methodology is provided to approximate the case depending change of material properties due to the characteristic requirements for different cases of application.

Keywords: Compliant Joints Design, Spider Leg Actuator, Biomimetic Actuator, Flexible Fluidic Actuator Design