A Novel Soft Robotic Manipulator Design with Zig-zag Chamber Geometry
Issued Date
2024-01-01
Resource Type
Scopus ID
2-s2.0-85197345131
Journal Title
2024 10th International Conference on Automation, Robotics, and Applications, ICARA 2024
Start Page
12
End Page
17
Rights Holder(s)
SCOPUS
Bibliographic Citation
2024 10th International Conference on Automation, Robotics, and Applications, ICARA 2024 (2024) , 12-17
Suggested Citation
Treratanakulchai S., Garriga-Casanovas A., Borvorntanajanya K., Franco E., Baena F.R. A Novel Soft Robotic Manipulator Design with Zig-zag Chamber Geometry. 2024 10th International Conference on Automation, Robotics, and Applications, ICARA 2024 (2024) , 12-17. 17. doi:10.1109/ICARA60736.2024.10552957 Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/99592
Title
A Novel Soft Robotic Manipulator Design with Zig-zag Chamber Geometry
Author's Affiliation
Corresponding Author(s)
Other Contributor(s)
Abstract
The development of soft robots has advanced rapidly in recent years. However, most designs present significant non-linearities and deviate from the desired bending direction in an unpredictable manner. This makes accurate control more difficult. In this paper, we present a novel design of a soft robotic manipulator with zig-zag partition walls, which minimize those deviations. We first outline the design and describe a lost wax manufacturing process for complex geometries. We then report experiments to evaluate the bending characteristics, force, and repeatability of the prototype, and we compare it against an existing design. The results show a significant improvement in bending consistency with minimal deviations.