Tiled Auxetic Cylinders for Soft Robots

Melanie Simons; Manaswi Digumarti; Andrew Conn; Jonathan Rossiter

doi:10.1109/ROBOSOFT.2019.8722742

Tiled Auxetic Cylinders for Soft Robots

Melanie Simons, Manaswi Digumarti, Andrew Conn, Jonathan Rossiter

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

12 Citations (Scopus)

342 Downloads (Pure)

Abstract

Compliant structures allow robots to overcome environmental challenges by deforming and conforming their bodies. In this paper, we investigate auxetic structures as a means of achieving this compliance for soft robots. Taking a tiling based approach, we fabricate 3D printed cylindrical auxetic structures to create tiled auxetic cylinders (TACs). We characterise the relative stiffness of the structures and show that variation in behaviour can be achieved by modifying the geometry within the same tiling family. In addition, we analysed the equivalent Poisson's ratio and found the range between the investigated designs to span from -0.33 to -2. Furthermore, we demonstrate a conceptual application in the design of a soft robot using the auxetic cylinders. We show that these structures can reactively change in shape, thereby reducing the complexity of control, with potential applications in confined spaces such as the human body, or for exploration through unpredictable terrain.

Original language	English
Title of host publication	IEEE International Conference on Soft Robotics (Robosoft 2019)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	62-67
Number of pages	6
Edition	2
ISBN (Electronic)	9781538692608
ISBN (Print)	9781538692615
DOIs	https://doi.org/10.1109/ROBOSOFT.2019.8722742
Publication status	Published - 24 May 2019
Event	2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of Duration: 14 Apr 2019 → 18 Apr 2019

Conference

Conference	2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
Country/Territory	Korea, Republic of
City	Seoul
Period	14/04/19 → 18/04/19

Structured keywords

Tactile Action Perception

Keywords

auxetics
Soft-Robotics

Access to Document

10.1109/ROBOSOFT.2019.8722742

Full-text PDF (accepted author manuscript)
This is the accepted author manuscript (AAM). The final published version (version of record) is available online via IEEE at https://doi.org/10.1109/ROBOSOFT.2019.8722742 . Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 3.29 MBLicence: Other

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@inproceedings{86d833e26ecb4ad3a9c78a4dcdf49aa5,

title = "Tiled Auxetic Cylinders for Soft Robots",

abstract = "Compliant structures allow robots to overcome environmental challenges by deforming and conforming their bodies. In this paper, we investigate auxetic structures as a means of achieving this compliance for soft robots. Taking a tiling based approach, we fabricate 3D printed cylindrical auxetic structures to create tiled auxetic cylinders (TACs). We characterise the relative stiffness of the structures and show that variation in behaviour can be achieved by modifying the geometry within the same tiling family. In addition, we analysed the equivalent Poisson's ratio and found the range between the investigated designs to span from -0.33 to -2. Furthermore, we demonstrate a conceptual application in the design of a soft robot using the auxetic cylinders. We show that these structures can reactively change in shape, thereby reducing the complexity of control, with potential applications in confined spaces such as the human body, or for exploration through unpredictable terrain.",

keywords = "auxetics, Soft-Robotics",

author = "Melanie Simons and Manaswi Digumarti and Andrew Conn and Jonathan Rossiter",

year = "2019",

month = may,

day = "24",

doi = "10.1109/ROBOSOFT.2019.8722742",

language = "English",

isbn = "9781538692615",

pages = "62--67",

booktitle = "IEEE International Conference on Soft Robotics (Robosoft 2019)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

edition = "2",

note = "2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 ; Conference date: 14-04-2019 Through 18-04-2019",

}

Simons, M, Digumarti, M, Conn, A & Rossiter, J 2019, Tiled Auxetic Cylinders for Soft Robots. in IEEE International Conference on Soft Robotics (Robosoft 2019). 2 edn, 8722742, Institute of Electrical and Electronics Engineers (IEEE), pp. 62-67, 2019 IEEE International Conference on Soft Robotics, RoboSoft 2019, Seoul, Korea, Republic of, 14/04/19. https://doi.org/10.1109/ROBOSOFT.2019.8722742

TY - GEN

T1 - Tiled Auxetic Cylinders for Soft Robots

AU - Simons, Melanie

AU - Digumarti, Manaswi

AU - Conn, Andrew

AU - Rossiter, Jonathan

PY - 2019/5/24

Y1 - 2019/5/24

N2 - Compliant structures allow robots to overcome environmental challenges by deforming and conforming their bodies. In this paper, we investigate auxetic structures as a means of achieving this compliance for soft robots. Taking a tiling based approach, we fabricate 3D printed cylindrical auxetic structures to create tiled auxetic cylinders (TACs). We characterise the relative stiffness of the structures and show that variation in behaviour can be achieved by modifying the geometry within the same tiling family. In addition, we analysed the equivalent Poisson's ratio and found the range between the investigated designs to span from -0.33 to -2. Furthermore, we demonstrate a conceptual application in the design of a soft robot using the auxetic cylinders. We show that these structures can reactively change in shape, thereby reducing the complexity of control, with potential applications in confined spaces such as the human body, or for exploration through unpredictable terrain.

AB - Compliant structures allow robots to overcome environmental challenges by deforming and conforming their bodies. In this paper, we investigate auxetic structures as a means of achieving this compliance for soft robots. Taking a tiling based approach, we fabricate 3D printed cylindrical auxetic structures to create tiled auxetic cylinders (TACs). We characterise the relative stiffness of the structures and show that variation in behaviour can be achieved by modifying the geometry within the same tiling family. In addition, we analysed the equivalent Poisson's ratio and found the range between the investigated designs to span from -0.33 to -2. Furthermore, we demonstrate a conceptual application in the design of a soft robot using the auxetic cylinders. We show that these structures can reactively change in shape, thereby reducing the complexity of control, with potential applications in confined spaces such as the human body, or for exploration through unpredictable terrain.

KW - auxetics

KW - Soft-Robotics

UR - http://www.scopus.com/inward/record.url?scp=85067115511&partnerID=8YFLogxK

U2 - 10.1109/ROBOSOFT.2019.8722742

DO - 10.1109/ROBOSOFT.2019.8722742

M3 - Conference Contribution (Conference Proceeding)

AN - SCOPUS:85067115511

SN - 9781538692615

SP - 62

EP - 67

BT - IEEE International Conference on Soft Robotics (Robosoft 2019)

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - 2019 IEEE International Conference on Soft Robotics, RoboSoft 2019

Y2 - 14 April 2019 through 18 April 2019

ER -

Tiled Auxetic Cylinders for Soft Robots

Abstract

Conference

Structured keywords

Keywords

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Integrated compliant actuation for untethered soft robotic systems

Cite this

Tiled Auxetic Cylinders for Soft Robots

Abstract

Conference

Structured keywords

Keywords

Access to Document

Handle.net

Other files and links

Fingerprint

Projects

Integrated compliant actuation for untethered soft robotic systems

Cite this