Design and Nonlinear Modeling of a Modular Cable-Driven Soft Robotic Arm.

ABSTRACT: We propose a novel multi-section cable-driven soft robotic arm inspired by octopus tentacles along with a new modeling approach. Each section of the modular manipulator is made of a soft tubing backbone, a soft silicon arm body, and two rigid endcaps, which connect adjacent sections and decouple the actuation cables of different sections. The soft robotic arm is made with casting after the rigid endcaps are 3D-printed, achieving low-cost and convenient fabrication. To capture the nonlinear effect of cables pushing into the soft silicon arm body, which results from the absence of intermediate rigid cable guides for higher compliance, an analytical static model is developed to describe the relationship between the bending curvature and the cable lengths. The proposed model shows superior pre

SUBMITTER: Qi X 

PROVIDER: S-EPMC12303071 | biostudies-literature | 2024 Aug

REPOSITORIES: biostudies-literature