Fin Ray Crossbeam Angles for Efficient Foot Design for Energy‐Efficient Robot Locomotion. (27th October 2021)

• Record Type: Journal Article
• Authors: Manoonpong, Poramate; Rajabi, Hamed; Larsen, Jørgen C.; Raoufi, Seyed S.; Asawalertsak, Naris; Homchanthanakul, Jettanan; Tramsen, Halvor T.; Darvizeh, Abolfazl; Gorb, Stanislav N.
• Is Part Of: Advanced intelligent systems. Volume 4:Number 1(2022)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2021-10-27
• Subjects: biomechanical structures -- morphological computation -- pipe inspection robots -- soft foot -- walking robots; Artificial intelligence -- Periodicals; Robotics -- Periodicals; Control theory -- Periodicals; 006.3
• DOI: 10.1002/aisy.202100133
• Languages: English
• ISSNs: 2640-4567

Abstract

Abstract : Robot foot and gripper structures with compliancy using different mechanical solutions have been developed to enhance proper contact formations and gripping on various substrates. The Fin Ray structure is one of the solutions. Although the Fin Ray effect has been proposed and exploited, no detailed investigation has been conducted on the effect of different crossbeam angles inside its frame. Thus, herein, an integrative approach is used, combining 3D printing with soft material, finite element modeling, and neural control to 1) manufacture the Fin Ray structure with compliancy; 2) investigate the effect of different crossbeam angles under different loads and cylindrical substrates; and 3) finally apply it as an efficient compliant robot foot structure for energy‐efficient on‐pipe locomotion. Considering the factors of a large contact area, high energy efficiency, and better durability, the Fin Ray model with nonstandard 10°‐inclined crossbeams provides the best compromise in comparison with other models, within the constraints of the defined geometric parameters. Abstract : It is shown that Fin Ray models with nonstandard inclined crossbeams may provide a better performance, in terms of gripping efficiency and durability, than other frequently used crossbeam angles. Herein, using a Fin Ray structure with 10° crossbeam angle, an efficient robot foot structure is developed that can enhance robot locomotion efficiency on curved and rough terrain.