PhD Qualifier Presentation
Design and Analysis of an Origami Continuum Manipulation Module with Torsional Strength
Abstract: Continuum manipulators, robot limbs inspired by trunks, snakes, and tentacles, represent a promising field in robotic manipulation research. They are well known for their compliance, as they can conform to the shape of objects they interact with. Furthermore, they also benefit from dexterity and reduced weight compared to traditional rigid manipulators. This work presents an origami-inspired cable driven continuum manipulator module that offers low-cost, low-volume deployment, light weight, and inherently safe human interaction and collaboration. Each module has a mass of around 110 g and integrates the actuation, sensing, and control sub-systems necessary for operation. The origami structure has 7.311 Nm/rad (0.128 Nm/degree) torsional stiffness while being capable of bending in two directions and changing arc length down to a fully collapsed state. A maximum contraction of 35 mm and bending angle of 35.5 degrees were achieved with 45 mm arc length. The module is capable of passively supporting a 1-kg mass at its tip, or 4 additional serially connected modules, bending approximately 6 degrees in the worst case. We also show that we can actively compensate for external moments by pre-compressing or pre-bending the module. We utilize an inverse kinematic control scheme and use it for both open and closed loop control following a circular trajectory. Our results indicate that the module motion follows the desired trajectory with an RMS error of 0.681 mm in the horizontal (x-y) plane and 0.373 mm in the z-axis with closed-loop control. We also assembled two origami modules in series and drove them independently, demonstrating the proof of concept of a modular origami continuum manipulator.
Wednesday, February 21, 2018
4:00 p.m. - 5:00 p.m.
85 Prescott Street, Conference Rm 209