Expanding the Design Space for Electrically-Driven Soft Robots through Handed Shearing Auxetics
This work addresses the problem of limited performance in soft robotics for applications requiring precise force and stiffness control, representing an incremental improvement with specific design optimizations.
The paper tackled the limitations in actuation range, blocked force, and stiffness of Handed Shearing Auxetics (HSA) for electrically-driven soft robots by focusing on design parameters like the auxetic trajectory point and cell number, achieving expanded force ranges from 5N to 150N and stiffness from 2 N/mm to 89 N/mm.
Handed Shearing Auxetics (HSA) are a promising structure for making electrically driven robots with distributed compliance that convert a motors rotation and torque into extension and force. We overcame past limitations on the range of actuation, blocked force, and stiffness by focusing on two key design parameters: the point of an HSA's auxetic trajectory that is energetically preferred, and the number of cells along the HSAs length. Modeling the HSA as a programmable spring, we characterize the effect of both on blocked force, minimum energy length, spring constant, angle range and holding torque. We also examined the effect viscoelasticity has on actuation forces over time. By varying the auxetic trajectory point, we were able to make actuators that can push, pull, or do both. We expanded the range of forces possible from 5N to 150N, and the range of stiffness from 2 N/mm to 89 N/mm. For a fixed point on the auxetic trajectory, we found decreasing length can improve force output, at the expense of needing higher torques, and having a shorter throw. We also found that the viscoelastic effects can limit the amount of force a 3D printed HSA can apply over time.