Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random Search
In this article, we use the concept of auxetic structures as inspiration for the design of a compliant mechanism that allows the integration of a soft robot whose movement is based on the peristaltic movements of invertebrates. The TPU mechanism allows for smooth movement of the robot using only two...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2022/7562164 |
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| _version_ | 1832561982963712000 |
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| author | L. A. Páramo-Carranza A. Lopez-González Juan C. Tejada |
| author_facet | L. A. Páramo-Carranza A. Lopez-González Juan C. Tejada |
| author_sort | L. A. Páramo-Carranza |
| collection | DOAJ |
| description | In this article, we use the concept of auxetic structures as inspiration for the design of a compliant mechanism that allows the integration of a soft robot whose movement is based on the peristaltic movements of invertebrates. The TPU mechanism allows for smooth movement of the robot using only two servo motors. To guarantee maximum displacement, a time and angle optimization procedure using photogrammetry and random search was carried out, allowing the advance distance of the soft robot to be maximized. |
| format | Article |
| id | doaj-art-7c9e8ebb4065407ab614c9620ea479b1 |
| institution | Kabale University |
| issn | 1687-9619 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-7c9e8ebb4065407ab614c9620ea479b12025-02-03T01:23:38ZengWileyJournal of Robotics1687-96192022-01-01202210.1155/2022/7562164Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random SearchL. A. Páramo-Carranza0A. Lopez-González1Juan C. Tejada2Universidad IberoamericanaUniversidad IberoamericanaUniversidad EIAIn this article, we use the concept of auxetic structures as inspiration for the design of a compliant mechanism that allows the integration of a soft robot whose movement is based on the peristaltic movements of invertebrates. The TPU mechanism allows for smooth movement of the robot using only two servo motors. To guarantee maximum displacement, a time and angle optimization procedure using photogrammetry and random search was carried out, allowing the advance distance of the soft robot to be maximized.http://dx.doi.org/10.1155/2022/7562164 |
| spellingShingle | L. A. Páramo-Carranza A. Lopez-González Juan C. Tejada Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random Search Journal of Robotics |
| title | Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random Search |
| title_full | Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random Search |
| title_fullStr | Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random Search |
| title_full_unstemmed | Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random Search |
| title_short | Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random Search |
| title_sort | compliant mechanism soft robot design and peristaltic movement optimization using random search |
| url | http://dx.doi.org/10.1155/2022/7562164 |
| work_keys_str_mv | AT laparamocarranza compliantmechanismsoftrobotdesignandperistalticmovementoptimizationusingrandomsearch AT alopezgonzalez compliantmechanismsoftrobotdesignandperistalticmovementoptimizationusingrandomsearch AT juanctejada compliantmechanismsoftrobotdesignandperistalticmovementoptimizationusingrandomsearch |