Bibliografie tematiche / Robots souples en silicone

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Letteratura scientifica selezionata sul tema "Robots souples en silicone"

Autore: Grafiati

Pubblicato: 22 febbraio 2025

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Articoli di riviste sul tema "Robots souples en silicone"

Azouz, Naoufel, Madeleine Pascal e Alain Combescure. "Application de la MEF à la modélisation dynamique des robots souples". Revue Européenne des Éléments Finis 7, n. 7 (gennaio 1998): 763–91. http://dx.doi.org/10.1080/12506559.1998.10511340.

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Lin, Hao, Yihui Chen e Wei Tang. "Soft Electrohydraulic Bending Actuators for Untethered Underwater Robots". Actuators 13, n. 6 (8 giugno 2024): 214. http://dx.doi.org/10.3390/act13060214.

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Abstract (sommario):

Traditional underwater rigid robots have some shortcomings that limit their applications in the ocean. In contrast, because of their inherent flexibility, soft robots, which have gained popularity recently, offer greater adaptability, efficiency, and safety than rigid robots. Among them, the soft actuator is the core component to power the soft robot. Here, we propose a class of soft electrohydraulic bending actuators suitable for underwater robots, which realize the bending motion of the actuator by squeezing the working liquid with an electric field. The actuator consists of a silicone rubber film, polydimethylsiloxane (PDMS) films, soft electrodes, silicone oils, an acrylic frame, and a soft flipper. When a square wave voltage is applied, the actuator can generate continuous flapping motions. By mimicking Haliclystus auricula, we designed an underwater robot based on six soft electrohydraulic bending actuators and constructed a mechanical model of the robot. Additionally, a high-voltage square wave circuit board was created to achieve the robot’s untethered motions and remote control using a smart phone via WiFi. The test results show that 1 Hz was the robot’s ideal driving frequency, and the maximum horizontal swimming speed of the robot was 7.3 mm/s.

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Wang, Jie, Haoyu Zhou, Yong Gao, Yupeng Xie, Jing Zhang, Yaocheng Hu, Dengwang Wang et al. "The Characterization of Silicone-Tungsten-Based Composites as Flexible Gamma-Ray Shields". Materials 14, n. 20 (11 ottobre 2021): 5970. http://dx.doi.org/10.3390/ma14205970.

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Robots are very essential for modern nuclear power plants to monitor equipment conditions and eliminate accidents, allowing one to reduce the radiations on personnel. As a novel robot, a soft robot with the advantages of more degrees of freedom and abilities of continuously bending and twisting has been proposed and developed for applications in nuclear power industry. Considering the radiation and high-temperature environment, the overall performance improvement of the flexible materials used in the soft nuclear robot, such as the tensile property and gamma-ray shielding property, is an important issue, which should be paid attention. Here, a flexible gamma-ray shielding material silicone-W-based composites were initially doped with nano titanium oxide and prepared, with the composition of 20 silicone-(80-x) W-(x) TiO2, where x varied from 0.1 to 2.0 wt.%. Structural investigations on SEM and EDS were performed to confirm the structure of the prepared composites and prove that all the chemicals were included in the compositions. Moreover, the tensile property of the composites at 25, 100, and 150 °C were investigated to study the effect of working temperature on the flexibility of the compositions. The attenuation characteristics including the linear attenuation coefficients and mass attenuation coefficients of the prepared silicone-W or silicone-W-TiO2-based composites with respect to gamma ray were investigated. The stability of the silicone–tungsten-TiO2-based composite at high temperature was studied for the first time. In addition, the influence of nano TiO2 additive on the property’s variation of silicone-W-based composites was initially studied. The comparison of the properties such as the tensile elongation, thermal stability, and gamma-ray shielding of the synthesized silicone-W and silicone-W-TiO2 composites showed that the addition of nano TiO2 powders could be useful to develop novel gamma-ray-shielding materials for radiation protection of soft robots or other applications for which soft gamma-ray-shielding materials are needed.

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García-Samartín, Jorge Francisco, Adrián Rieker e Antonio Barrientos. "Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm". Actuators 13, n. 1 (17 gennaio 2024): 36. http://dx.doi.org/10.3390/act13010036.

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Soft robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced control methods. This research is centred on the design, fabrication, and control of a pneumatic soft robot. The principal objective is to develop a modular soft robot featuring multiple segments, each one with three degrees of freedom. This yields a tubular structure with five independent degrees of freedom, enabling motion across three spatial dimensions. Physical construction leverages tin-cured silicone and a wax-casting method, refined through an iterative processes. PLA moulds that are 3D-printed and filled with silicone yield the desired model, while bladder-like structures are formed within using solidified paraffin wax-positive moulds. For control, an empirically fine-tuned open-loop system is adopted. This paper culminates in rigorous testing. Finally, the bending ability, weight-carrying capacity, and possible applications are discussed.

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Sun, Hao, Bin Cheng, Ning Yang Wang e Xiao Ping Chen. "A Preliminary Study of the HPN Robot". Applied Mechanics and Materials 575 (giugno 2014): 726–30. http://dx.doi.org/10.4028/www.scientific.net/amm.575.726.

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Soft robots are robots made of soft materials and actuators. Previously we proposed the HPN (Honeycomb PneuNets) Robot, where PneuNets were placed as actuators into honeycomb shaped elastomer. In this paper, we present some progress of this effort. A random search algorithm is applied to plan the obstacle-avoid movements of an HPN robot. We test it through several cases, and the results showed that the algorithm can work effectively. We introduce an HPN robot prototype, which is made of RTV-2 silicone rubber. Preliminary experiments showed that some good expansion rate and flexibility can be achieved. A piston and soft body simulation model of HPN robots is also presented, which can mimic the basic behaviors of the HPN robot.

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Marzi, Christian, Nikola Fischer e Franziska Mathis-Ullrich. "Biocompatible Soft Material Actuator for Compliant Medical Robots". Current Directions in Biomedical Engineering 7, n. 1 (1 agosto 2021): 58–62. http://dx.doi.org/10.1515/cdbme-2021-1013.

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Abstract Robots from material-based actuators offer high potential for small-scale robots with abilities hardly achievable by classical methods like electric motors. Besides excellent scaling to minimally invasive systems, allowing for omission of metallic components, such robots can be applied in imaging modalities such as MRI or CT. To allow for higher accessibility in this field of research, a facile method for fabrication of such soft actuators was developed. It comprises only two materials: graphene oxide and silicone elastomer. The facile fabrication method does not require specialized equipment. The resulting actuator is biocompatible and controllable by light mediated heat. The bending motion can be controlled by the intensity of applied infrared light and the actuator was experimentally shown to move five times its own weight. Thus, providing capabilities for a medical soft robotic actuator.

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Behkam, Bahareh, e Metin Sitti. "Design Methodology for Biomimetic Propulsion of Miniature Swimming Robots". Journal of Dynamic Systems, Measurement, and Control 128, n. 1 (23 settembre 2005): 36–43. http://dx.doi.org/10.1115/1.2171439.

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Miniature and energy-efficient propulsion systems hold the key to maturing the technology of swimming microrobots. In this paper, two new methods of propulsion inspired by the motility mechanism of prokaryotic and eukaryotic microorganisms are proposed. Hydrodynamic models for each of the two methods are developed, and the optimized design parameters for each of the two propulsion modes are demonstrated. To validate the theoretical result for the prokaryotic flagellar motion, a scaled-up prototype of the robot is fabricated and tested in silicone oil, using the Buckingham PI theorem for scaling. The proposed propulsion methods are appropriate for the swimming robots that are intended to swim in low-velocity fluids.

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Condino, Sara, Kanako Harada, Nicola Ng Pak, Marco Piccigallo, Arianna Menciassi e Paolo Dario. "Stomach Simulator for Analysis and Validation of Surgical Endoluminal Robots". Applied Bionics and Biomechanics 8, n. 2 (2011): 267–77. http://dx.doi.org/10.1155/2011/583608.

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A testing environment that imitates gastric geometry and contractile activity is necessary to analyse and validate endoluminal surgical robotic devices developed for gastric pathologies. To achieve this goal, a silicone stomach model and a mechanical setup to simulate gastric contractile motion were designed and fabricated. The developed stomach simulator was validated and its usefulness was demonstrated by means of internal pressure measurements and self-assembly tests of mock-ups of capsule devices. The results demonstrated that the stomach simulator is helpful for quantitative evaluation of endoluminal robotic devices beforein-vitro/in-vivoexperiments.

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Chiu, Wan-Ting, Yui Watanabe, Masaki Tahara, Tomonari Inamura e Hideki Hosoda. "Investigations of Shape Deformation Behaviors of the Ferromagnetic Ni–Mn–Ga Alloy/Porous Silicone Rubber Composite towards Actuator Applications". Micromachines 14, n. 8 (14 agosto 2023): 1604. http://dx.doi.org/10.3390/mi14081604.

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Ferromagnetic shape memory alloys (FSMAs), which are potential candidates for future technologies (i.e., actuators in robots), have been paid much attention for their high work per volume and rapid response as external stimulation, such as a magnetic field, is imposed. Among all the FSMAs, the Ni–Mn–Ga-based alloys were considered promising materials due to their appropriate phase transformation temperatures and ferromagnetism. Nevertheless, their intrinsic embrittlement issue and sluggish twin motion due to the inhibition of grain boundaries restrict their practicability. This study took advantage of the single-crystal Ni–Mn–Ga cube/silicone rubber composite materials to solve the two aforementioned difficulties. The single-crystal Ni–Mn–Ga cube was prepared by using a high-temperature alloying procedure and a floating-zone (FZ) method, and the cubes were verified to be the near-{100}p Ni–Mn–Ga alloy. Various room temperature (RT) curing silicone rubbers were utilized as matrix materials. Furthermore, polystyrene foam particles (PFP) were used to provide pores, allowing a porous silicone rubber matrix. It was found that the elastic modulus of the silicone rubber was successfully reduced by introducing the PFP. Additionally, the magnetic field-induced martensite variant reorientation (MVR) was greatly enhanced by introducing a porous structure into the silicone rubber. The single-crystal Ni–Mn–Ga cube/porous silicone rubber composite materials are considered to be promising materials for applications in actuators.

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Li, Junfeng, Songyu Chen e Minjie Sun. "Design and fabrication of a crawling robot based on a soft actuator". Smart Materials and Structures 30, n. 12 (9 novembre 2021): 125018. http://dx.doi.org/10.1088/1361-665x/ac2e1b.

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Abstract Inspired by biological systems, soft crawling robots provide unique advantages in terms of resilience and adaptive shaping during robotic motion. However, soft robots actuated by motors and pumps are usually heavy, noisy and bulky. In this paper, based on the principle of liquid-vapor changes of ethanol, a novel soft crawling robot that demonstrates more silent actuation and lighter weight compared with other robots is proposed. To increase the crawling speed of the robot, silicone mixed with liquid metal with a volume ratio of 20% is used to fabricate the actuators. The deformation of the actuator is analyzed and can be predicted using a theoretical model. To obtain effective crawling performance, a crawling locomotion sequence consisting of the three different parts (central, head and tail) based on the variable friction mechanism of actuators B and C is presented. The experimental results demonstrate that the robot can achieve forward movement on a horizontal surface and along vertical pipes and sticks. This study will provide further inspiration and guidance for the future development of crawling robots.

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Più fonti

Tesi sul tema "Robots souples en silicone"

Mosser, Loïc. "Contribution à la conception et la fabrication de robots souples pneumatiques". Electronic Thesis or Diss., Strasbourg, 2024. http://www.theses.fr/2024STRAD009.

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Ce travail de thèse porte sur la conception de robots souples pneumatiques, pour lesquels la mise en mouvement par déformation est produite via des chambres pneumatiques. Nous contribuons à l'obtention d'un robot depuis la formulation du besoin jusqu'à la fabrication du robot. Ainsi, nous abordons les problématiques associées à la conception et la fabrication de ces robots. Pour la conception, nous proposons un algorithme génétique dont le fonctionnement est accéléré par l'usage d'un modèle d'IA permettant l'estimation rapide des comportements de nouvelles géométries et la recherche de solution. Pour la fabrication, nous proposons une plateforme instrumentée de fabrication additive de silicone permettant l'acquisition de nuages de points sur la couche produite. Des indicateurs sont alors proposés pour suivre la production en cours et l'intégrité de robots souples, et ces indicateurs sont évalués expérimentalement
This thesis covers the design of pneumatic soft robots, which move thanks to deformation using pneumatic chambers. We contribute to the design of a robot from the formulation of the need to the manufacturing of the robot. We address the problems associated with the design and manufacture of these robots. For design, we propose a genetic algorithm accelerated by the use of an AI model enabling rapid estimation of the behavior of new geometries and the search for solutions. For manufacturing, we propose an instrumented silicone additive manufacturing platform enabling the acquisition of point clouds on each produced layer. Indicators are then proposed to monitor ongoing production and the integrity of soft robots, and these indicators are evaluated experimentally

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Kraehn, Baptiste. "Approche intégrée matériau-procédé appliquée à la conception de doigts souples pour la manipulation dextre". Electronic Thesis or Diss., Strasbourg, 2024. http://www.theses.fr/2024STRAD042.

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Ce travail de thèse propose une approche intégrée pour le développement de doigts pneumatiques en silicone destinés à la manipulation dextre. Basée sur une démarche comparative entre l'expérimentation et la prédiction numérique, l'identification des modèles de comportement du silicone permet de prédire le comportement du doigt pneumatique. La conception de celui-ci est alors guidée par simulation, avec pour objectif de réduire la dépendance du comportement du doigt à l'effet Mullins. La méthode de fabrication retenue, l'injection basse pression, permet la mise en place d'un processus de fabrication robuste par surmoulage des renforts rigides et de la base du doigt. La conception du doigt et de l'outillage est définie de manière à permettre la production de l'assemblage complet en une unique étape d'injection
This thesis proposes an integrated approach to the design of pneumatic silicone fingers for dexterous manipulation. Based on a comparative approach between experimentation and numerical prediction, the identification of silicone behavioral models allows the prediction of pneumatic finger behavior. The design is then guided by simulation with the aim of reducing the finger's dependence on the Mullins effect. The chosen manufacturing method, low-pressure injection molding, allows a robust overmolding process for the rigid reinforcements and the base of the finger. The finger and tooling are designed to enable production of the complete assembly in a single injection step

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PHAM, CHI MINH. "Identification et commande des robots souples". Nantes, 1992. http://www.theses.fr/1992NANT2042.

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Les travaux exposes dans le cadre de cette these concernent l'identification et la commande a base de modele de connaissance, des robots a structure flexible. La modelisation est basee sur la discretisation par elements finis. L'identification est basee sur la regression globale des moindres carres. Dans ce cadre, nous proposons principalement: une parametrisation lineaire et minimale des modeles dynamique et energetique; une methode pour simplifier les modeles, definir les entrees excitantes, donc finalement pour diminuer l'effet des perturbations sur l'estimation des parametres; une methode efficace de validation experimentale du modele estime concernant la commande en deplacement des robots souples, nous proposons une nouvelle loi de commande non lineaire basee sur des considerations de stabilite. La robustesse parametrique de cette commande est etudiee. Une version adaptative proposee, une etude comparative avec d'autres lois de commande montre l'efficacite et la simplicite de notre approche. Enfin, la mise en uvre pratique concerne la simulation et l'experimentation d'un robot souple plan a un axe et deux axes. La loi de commande proposee a ete implantee avec succes utilisant un modele identifie

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Depincé, Philippe. "Contribution a l'elaboration d'un modele minimal de robots souples". Nantes, 1993. http://www.theses.fr/1993NANT2080.

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Notre etude porte sur l'elaboration d'un modele minimal de robots souples a chaine ouverte simple en vue de son utilisation en identification et en commande. A partir d'une description des robots flexibles fondee sur un modele reference bras rigide, nous montrons que les modeles obtenus s'ecrivent lineairement par rapport a un jeu de parametres inertiels et de raideur appele jeu de parametres standard. Ensuite une approche formelle est developpee pour la recherche de conditions suffisantes de minimalite de ces parametres. Elle s'appuie sur la recherche de conditions d'independance des fonctions energies de parametres standard. Les conditions suffisantes obtenues sont fonction du nombre et du choix des fonctions de forme ou des modes utilises pour decrire la flexibilite des bras. Des applications concernant un bras souple dans le plan et l'espace sont donnees. La question de la generation de modeles formels de robots souples est ensuite abordee. Nous nous attachons aux problemes lies a l'ordre de developpement du modele par rapport aux degres de liberte elastiques et nous proposons une methode pour generer, a l'aide d'un logiciel de calcul symbolique, un modele formel de robots flexibles. Finalement, nous presentons une application du modele energetique a l'identification. Nous proposons une methode originale pour mettre en evidence les parametres non identifiables d'un modele de robots souples. La necessite de determiner des trajectoires excitantes est mise en evidence en simulation et sur un site experimental compose d'un robot plan un ou deux bras. Une methode heuristique est proposee

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Bochard, Stéphane. "Contrôle actif par composants piézo-électriques de structures souples en grands déplacements". Lyon, INSA, 2002. http://theses.insa-lyon.fr/publication/2002ISAL0051/these.pdf.

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Lorsque les structures vibrantes sont soumises à de grands déplacements, leur comportement dynamique peut être fortement non linéaire et présente un couplage vibrations/grands déplacements. Une commande linéaire et une stratégie de contrôles indépendants ne sont pas plus adaptés. L'étude développée traite du contrôle non linéaire de structures bi-articulées. Une modélisation fine est réalisée. Elle lie les éléments finis, où le couplage déformations/champ électrique est pris en compte, et les grands déplacements. Le contrôle est réalisé par des actionneurs électromécaniques et piézo-électriques. La stratégie de contrôle MIMO développée consiste à pondérer à chaque instant la commande de contrôleurs fonctionnant en parallèle, calculés pour des points de fonctionnement traversés au cours du mouvement. La commande multivariable est obtenue en pondérant par interpolation les commandes linéaires quadratiques de chaque contrôleur optimisé, en fonction des grands déplacements. Les simulations de la première application : une structure bi-articulée rigide, ont montré que le contrôle non-linéaire est bien plus efficace qu'un contrôle linéaire, l'utilisation des couples moteurs étant meilleure. La seconde application du contrôle non linéaire proposé concerne une structure bi-articulée flexible. Dans un premier temps, une poutre instrumentée d'un actionneur piézo-électrique bimorphe et de deux capteurs piézo-électriques est réalisée. Le modèle associé est recalé de façon optimisée. Les contrôles de la poutre encastrée, puis articulée sur un motoréducteur sont performants. Les résultats issus des simulations et de l'expérimentation sont en bon accord. Le contrôle non linéaire de structure bi-articulée flexible modélisée par deux modes de corps rigides et cinq flexibles est simulé. Il s'avére robuste en stabilité et performance. Grâce à ce type de contrôle, la dynamique globale est maintenue quasi-constante au cours du mouvement, malgré l'évolution de la géométrie de la structure
When vibrating structures are subjected to large displacements, coupling may occur between the vibrations and the displacements inducing possibly strongly non-linear behaviour. In this case, linear control algorithms and independent control strategy are no longer suitable. This study deals with the non-linear control of Bi-articulated structures. A model that combines both finite element (FE) discretisation, taking into account strains/electric field coupling, and global behaviour is carried out. Electromechanical and piezoelectric actuators carry out the multivariable control. The control strategy developed consists in weighting the output of parallel state controllers, calculated for the p discretized operating points crossed during the progression of the structure’s dynamic behaviour. The multivariable control u is obtained by weighting interpolation functions fi of the linear quadratic control gains Ki of each controller optimised according to large displacements. The first application to Bi-articulated rigid beam systems shows, in comparison with a stable linear control, that non-linear control is by far the better of the two. This is mainly due to increased efficiency of motor torque use. The second application of the proposed non-linear control algorithm concerns a Bi-articulated flexible beam system modelled by two rigid body modes and five flexible modes. The control obtained is robust regarding both stability and performance. Quasi-steady controlled dynamic behaviour is obtained during movement. The last application deals with a flexible link featuring two piezoelectric sensors and one pair of the piezoelectric actuators pasted to the both sides of the beam. The associated model is adjusted by optimisation. The control of the beam, clamped-free or articulated by the geared motor, shows performance. The simulated results accords with the experimental ones

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Bochard, Stéphane Lalanne Michel. "Contrôle actif par composants piézo-électriques de structures souples en grands déplacements". Villeurbanne : Doc'INSA, 2007. http://docinsa.insa-lyon.fr/these/pont.php?id=bochard.

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Azouz, Naoufel. "Modélisation des structures souples poly-articulées : application à la simulation des robots". Paris 6, 1994. http://www.theses.fr/1994PA066021.

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Dans ce rapport on présente une méthode permettant la simulation des mécanismes flexibles en grands déplacements et petites déformations. En raison de l'augmentation des coûts d'expérimentation, la simulation est devenue nécessaire dès la phase de pre-développement pour vérifier l'admissibilité cinématique du système. Dans le but d'aboutir à un outil de calcul présentant un bon rapport précision/temps de calcul, on a mis au point un modèle dynamique pour les mécanismes articulés qui utilise une description lagrangienne actualisée par rapport à une configuration de référence rigide. L'étude dynamique de chaque corps (sous-structure) est réalisée à partir d'une analyse modale. On a adopté un schéma incrémental. L'incrément de mouvement de corps rigide ainsi que la déformation sont pris en compte simultanément ce qui permet de tenir compte du couplage inertiel entre le mouvement d'ensemble et la déformation. Pour la connexion des sous-structures, on a établi un formalisme souple permettant de tenir compte aisément d'éventuelles imperfections au niveau des articulations (flexibilité, amortissement, jeux). Des méthodes de résolution spécifiques à chaque cas ont été mises au point, assurant une parfaite compatibilité avec la modélisation des différentes sous-structures. La modélisation globale du système articulé se fait ainsi entièrement à partir des variables modales. D'un autre coté, on a étudié la stabilité numérique de la simulation des mécanismes soumis à des lois de commandes ou comprenant des liaisons imparfaites. Des tests de validation sont présentés à la fin du rapport ; ils montrent l'efficacité de la méthode et du logiciel établis

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Colas, Frederic. "Synthèse et réglage de lois de commandes adaptées aux axes souples en translation : application aux robots cartésiens 3 axes". Ecole Centrale de Lille, 2007. http://www.theses.fr/2007ECLI0023.

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Les robots cartésiens sont utilisés dans de nombreux processus industriels et notamment dans l’industrie plastique pour des opérations de décharge de presses à injection. Augmenter les performances de ces machines passe par l’utilisation de structures allégées. En effet, la réduction des masses en mouvement permet de réduire sensiblement les coûts de fabrication et d’accroître les caractéristiques dynamiques générales. Cependant, l’augmentation de la souplesse mécanique qui en résulte dégrade fortement le comportement vibratoire de ces robots. Cette étude vise à améliorer le temps de cycle d’un axe souple de robot cartésien par une action sur la commande tout en maîtrisant son comportement vibratoire. La démarche adoptée tout au long de cette étude relève d’un enchaînement modélisation/commande/autoréglage pouvant s’intégrer dès la phase de conception. La méthodologie de modélisation permet d’obtenir les caractéristiques modales de la structure à partir d’un modèle continu dérivé d’un modèle éléments-finis. L’application de principes d’inversion sur les modèles de commande obtenus permet d’élaborer une méthode de synthèse de commandes adaptées aux axes souples. Les nombreux algorithmes proposés permettent d’atténuer les vibrations en gardant des performances acceptables. La robustesse de l’architecture de commande par rapport aux erreurs de modélisation et aux perturbations extérieures est assurée par des asservissements dont la synthèse prend en compte la flexibilité du robot. Les stratégies de commande ont été validées sur deux robots cartésiens SEPRO-Robotique. Enfin, des méthodes d’autoréglage des principaux algorithmes proposés sont présentées
Cartesian robots are generally devoted to industrial pick-and-place applications such as demoulding plastic injection machines. From the industrial point of view, the demand for improved performances motivates the use of lightweight structures. Indeed the lightening of moving masses makes it possible to cut production costs while improving the overall dynamics. However, additional stresses are generated which consequently induce undesirable vibrations. Adequate controller design, which is the core of this study, has been shown to be able to improve the performances of flexible axes while damping mechanical vibrations. A modelling/control/self-tuning development has been introduced, which can be considered from the mechanical design stage. The modal parameters of the system are obtained from a continuous model which has been derived from a finite element model. A control synthesis method using the inversion principle has been developed to monitor flexible axes. The many feedforward or trajectory planning algorithms thereby designed have shown to be able to enhance the overall dynamics of the machine while limiting the deformation modes vibrations. A feedback control has been embedded into the control architecture in order to develop robustness with respect to model uncertainties and rejection of external disturbances. Control strategies have been validated on two Cartesian robots with different generation and size. At last, auto-tuning methods tailored to the feedforward and feedback controllers introduced previously have been presented

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Thérien, Francis. "Conception et calibration de capteurs de mouvement à film diélectrique pour robots souples multi-degrés de liberté". Mémoire, Université de Sherbrooke, 2015. http://hdl.handle.net/11143/8388.

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Les robots souples pourraient permettre une interaction homme-robot intrinsèquement sécuritaire car ils sont fabriqués de matériaux déformables. Les capteurs de mouvement adaptés aux robots souples doivent être compatibles avec les mécanismes déformables comportant plusieurs degrés de liberté (DDL) retrouvés sur les robots souples. Le projet de recherche propose des outils de conception pour ce nouveau genre de systèmes de capteurs de mouvement. Pour démontrer ces outils, un système de capteurs est conçu pour un robot souple existant servant pour des interventions chirurgicales guidées par imagerie. De plus, un algorithme de calibration utilisant des techniques d’apprentissage automatique est proposé pour les capteurs à plusieurs DDL. Un prototype du système de capteurs conçu est fabriqué et installé sur le robot souple existant. Lors d’essais expérimentaux, le prototype du système de capteurs atteint une précision moyenne de 0.3 mm et minimale de 1.2 mm.

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Glandais, Nathalie. "Modelisation et simulation des robots souples : extension de la methode du repere flottant au domaine des grands deplacements elastiques". Nantes, 1999. http://www.theses.fr/1999NANT2081.

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Le travail presente dans ce document traite de la modelisation dynamique d'un systeme multi-corps flexible compose de poutres minces deformables. La solution proposee peut aussi bien modeliser des manipulateurs industriels legers que des grandes structures spatiales soumises a de grands deplacements elastiques. Le modele obtenu est base sur une cinematique non lineaire d'euler-bernouilli. Il est obtenu sous formalisme de newton-euler en appliquant le principe des puissances virtuelles. A partir d'un modele exact, capable de representer les effets des deplacements finis, mais trop couteux en temps de calcul pour la commande, nous avons developpe deux modeles approches. Le premier est lineaire par rapport au deplacement elastique, le second est quadratique. Contrairement aux modeles standards, ces modeles prennent en compte des deformations moderees et des effets du second ordre apparaissant dans certains cas limites : grandes vitesses, accelerations. Ces modeles sont consistants aussi bien dynamiquement qu'energetiquement. Deux algorithmes rapides de simulation dynamique ont ete testes. Des resultats de simulation concernant un manipulateur flexible compose de quatre corps sont reportes, et compares avec ceux fournis par le module mecano de samcef. Ces resultats tendent a prouver que le modele quadratique consistant est une bonne solution pour la modelisation des grandes structures spatiales.

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Capitoli di libri sul tema "Robots souples en silicone"

Dawood, Abu Bakar, Hareesh Godaba e Kaspar Althoefer. "Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots". In Towards Autonomous Robotic Systems, 62–65. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-63486-5_8.

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Ranjbar, Sadegh, Mohammad Lakhi, Mahdi Bodaghi, Morteza Sayah Irani e Ali Zolfagharian. "Silicone elastomer soft robots via 4D printing". In Smart Materials in Additive Manufacturing Volume 3, 167–201. Elsevier, 2024. http://dx.doi.org/10.1016/b978-0-443-13673-3.00007-9.

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İlman, Mehmet Mert, e Hamza Taş. "A Soft Robotic Gripper Material Study". In Design and Control Advances in Robotics, 60–73. IGI Global, 2022. http://dx.doi.org/10.4018/978-1-6684-5381-0.ch004.

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Soft robots have gained superiority in outdoor applications compared to traditional robots today. This advantage is clearly due to bio-inspiration and evolving material technology. The objective of this research is to use nanotechnology to improve material qualities. For this, silicone named DragonSkin 20 (DS20), which can be employed in soft robot applications, was selected as the matrix material, while functionalized multi-walled-carbon-nanotube (MWCNT) was utilized as an additive. One of the parameters that determine the mechanical properties is the change of curing behavior. The choice of mixing technique, on the other hand, is very crucial since it affects the curing behavior. For this reason, the effects of not only the additive but also the various mixing techniques on the material behavior and curing time were reported as a result of the experiments. The results showed that the mixing methodologies plays an important role on the mechanical properties and curing time of neat and MWCNT reinforced silicone.

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Atti di convegni sul tema "Robots souples en silicone"

Xiao, Fei, Zhuoheng Wei, Hao Wang, Jisen Li e Jian Zhu. "Embedded 3D Printing of Silicone for Soft Actuator with Stiffness Gradient and Programmable Workspace". In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10913–18. IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10801545.

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Putzu, Fabrizio, Kaspar Althoefer e Luigi Manfredi. "Silicone-based ultra-stretchable strain sensors". In UK-RAS Conference: Robots Working For and Among Us. EPSRC UK-RAS Network, 2018. http://dx.doi.org/10.31256/ukras17.46.

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Weigand, Felix, Anh Minh Nguyen, Jan Wolff e Arthur Seibel. "Toward Industrial Silicone 3D Printing of Soft Robots". In 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft). IEEE, 2021. http://dx.doi.org/10.1109/robosoft51838.2021.9479196.

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Pak, Nicola Ng, Robert J. Webster, Arianna Menciassi e Paolo Dario. "Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots". In 2007 IEEE International Conference on Robotics and Automation. IEEE, 2007. http://dx.doi.org/10.1109/robot.2007.363993.

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Fang, Wu, Seung Ki Moon e Hungsun Son. "Voice coil navigation sensor for endoscopic silicone intubation". In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). IEEE, 2014. http://dx.doi.org/10.1109/urai.2014.7057449.

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Yi Sun, Yun Seong Song e Jamie Paik. "Characterization of silicone rubber based soft pneumatic actuators". In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013). IEEE, 2013. http://dx.doi.org/10.1109/iros.2013.6696995.

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Dawood, Abu Bakar, Hareesh Godaba, Ahmad Ataka e Kaspar Althoefer. "Silicone-based Capacitive E-skin for Exteroception and Proprioception". In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2020. http://dx.doi.org/10.1109/iros45743.2020.9340945.

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Carpi, Federico, Azadeh Khanicheh, Constantinos Mavroidis e Danilo De Rossi. "Silicone Made Contractile Dielectric Elastomer Actuators Inside 3-Tesla MRI Environment". In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2008. http://dx.doi.org/10.1109/iros.2008.4651064.

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Zheng, G., O. Goury, M. Thieffry, A. Kruszewski e C. Duriez. "Controllability pre-verification of silicone soft robots based on finite-element method". In 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. http://dx.doi.org/10.1109/icra.2019.8794370.

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Chen, G., M. Pham e T. Redarce. "Development and kinematic analysis of a silicone-rubber bending tip for colonoscopy". In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2006. http://dx.doi.org/10.1109/iros.2006.282129.

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