Zusammenfassung
Appropriate assistive systems are used due to the demographic change, increased temporal and spatial interaction or integration of human and robots as well as necessary flexibility in respect to tasks and location. Especially safety and flexibility for effective human-robot-interaction and a broad spectrum of tasks are important. Existing technologies use different kinds of mechanisms or principles for realizing safe interaction, especially e.g. soft control, optical approaches and sensor skin in combination with conventional industrial robots. In addition, the field of soft materials robotics is becoming increasingly important, with the focus to increase E-modulus of structure elements. This paper presents an approach for soft and self-unfolding modular robots on the basis of paper lamella technology which can be used as a system for human-machine interaction as well as for robots with the ability of self-unfolding and -folding. For demonstration, a realization of a self-unfolding lamella element as well as the results of first measurements are summarized.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Literatur
Schenk, M., Elkmann, N.: Sichere Mensch-Roboter-Interaktion: Anforderungen, Voraussetzungen, Szenarien und Lösungsansätze. Demografischer Wandel – Herausforderungen für Arbeits-und Betriebsorganisation der Zukunft. GITO, Berlin, pp. 109-120, 2012.
Weidner, R.: Technische Unterstützungssysteme, die die Menschen wirklich wollen. Band zur zweiten Transdisziplinären Konferenz, ISBN: 978-3-86818-089-3 (print) and 978-3-86818-090-9 (online), 2016.
Otten, B.,Weidner, R., Linnenberg, C.: Leichtgewichtige und inhärent biomechanisch kompatible Unterstützungssysteme für Tätigkeiten in und über Kopfhöhe. 2. Transdisziplinäre Konferenz “Technische Unterstützungssysteme, die die Menschen wirklich wollen”, pp. 495-505, 2016.
Mason, M. T.: Compliance and Force Control for Computer Controlled Manipulators. In: IEEE Transactions on Systems, Man, and Cybernetics, Vol. 11, No. 6, pp. 418-432, https://doi.org/10.1109/tsmc1981.4308708, 1981
Nature Homepage, https://www.nature.com/subjects/soft-materials, last accessed 2017/11/02.
Cheng, N. G., Lobovsky, M. B., Keating, S. J., Setapen, A. M., Gero, K. I., Hosoi, A. E., Iagnemma, K. D.: Design and Analysis of a Robust, Low-cost, Highly ArticulatedManipulator Enabled by Jamming of Granular Media. IEEE International Conference on Robotics and Automation (ICRA), Minnesota (USA), pp. 4328-4333, https://doi.org/10.1109/icra.2012.6225373, 2012.
Li, S., Vogt, D. M., Rus, D., Wood, R. J.: Fluid-driven origami-inspired artificial muscles. Proceedings of the National Academy of Sciences of the United States of America 114 (50) 13132-13137, https://doi.org/10.1073/pnas.1713450114, 2017.
Drotman, D., Jadhav, S., Karimi, M., deZonia, P., Tolley, M. T.: 3D printed soft actuators for a legged robot capable of navigating unstructured terrain. IEEE International Conference on Robotics and Automation (ICRA), Singapore, pp. 5532-5538, https://doi.org/10.1109/icra.2017.7989652, 2017.
YOUBOT STORE Homepage, http://www.youbot-store.com/, last accessed 2017/1102.
Kondak, K., Krieger, K., Albu-Schaeffer, A., Schwarzbach, M., Laiacker, M., Maza, I., Rodriguez-Castano, Ollero, A.: Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks. International Journal of Advanced Robotic Systems, https://doi.org/10.5772/53754, 2012.
Belke, C. H., Paik, J.: Mori: A Modular Origami Robot. In: IEEE/ASME Transactions on Mechatronics, vol. 22, no. 5, pp. 2153-2164, https://doi.org/10.1109/tmech.2017.2697310, 2017.
Müller, R., Esser, M., Vette, M.: Reconfigurable handling systems as an enabler for large components in mass customized production. In: Journal of Intelligent Manufacturing, vol. 24, issue 5, pp. 977-990, https://doi.org/10.1007/s10845-012-0624-y, 2013.
IGUS Homepage, http://www.igus.de/wpck/18353/roboticcomponents?gclid=CjwKCAjwhOvPBRBxEiwAx2nhLkVNJRzNgntWlNT2TvwPbfZUbB9D-l96wpufJNtS_OgYoXkvn_r_aRoCW2cQAvD_BwE, last accessed 2017/11/02.
Weidner, R., Meyer, T., Argubi-Wollesen, A., Wulfsberg, J. P.: Towards a modular and wearable support system for industrial production. Applied Mechanics & Materials, vol. 840, pp. 123 - 131, 2016.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer-Verlag GmbH Deutschland, ein Teil von Springer Nature
About this paper
Cite this paper
Weidner, R., Meyer, T., Wulfsberg, J.P. (2018). Towards soft, adjustable, self-unfoldable and modular robots – an approach, concept and exemplary application. In: Schüppstuhl, T., Tracht, K., Franke, J. (eds) Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter. Springer Vieweg, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-56714-2_27
Download citation
DOI: https://doi.org/10.1007/978-3-662-56714-2_27
Published:
Publisher Name: Springer Vieweg, Berlin, Heidelberg
Print ISBN: 978-3-662-56713-5
Online ISBN: 978-3-662-56714-2
eBook Packages: Computer Science and Engineering (German Language)