Tesi etd-09172018-103909
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Tipo di tesi
Perfezionamento
Autore
ABIDI, SYED HAIDER JAWAD
URN
etd-09172018-103909
Titolo
Design and Modelling of Soft Robots for Surgical Uses
Settore scientifico disciplinare
ING-IND/34
Corso di studi
INGEGNERIA - Biorobotics
Commissione
relatore MENCIASSI, ARIANNA
Parole chiave
- Actuation
- Modeling
- Soft Robotics
- Surgical Robotics
Data inizio appello
30/11/2018;
Disponibilità
completa
Riassunto analitico
Soft robotics is establishing itself as major branch of robotics research and development due to the versatile capabilities such as unprecedented dexterity, adaptability and potential of intrinsically compliant interaction with the environment. However in order to make full use of these capabilities, there are certain obstacles.
Being a relatively new field, there are challenges in the frontiers of modelling, design and implementation. This thesis is directed towards segments of all of these challenges in an effort to make not only a crude framework for the development of soft robots, but also to illustrate how new capabilities may be implemented within this rich field. On the modelling front, an implementation of combining two well-known kinematic models (the constant curvature model and Cosserat model) on a soft manipulator has been illustrated, and a framework has been suggested wherein models can be used as a design tool. This modelling approach can be used for soft components and for rigid components. On the implementation front techniques of stiffening have been introduced along with the concept of combining soft robots and rigid robots to create a synergy. And finally on the developmental front a new concept of using phase changing working fluids has been introduced which not only provide variable stiffness soft actuators, but also caters the idea of proprioception. Such actuators encompass all three aspects of soft robotics i.e. actuation, stiffening and sensing.
Soft robots undoubtedly bring the promise of revolutionizing the use of robotics, especially for daily life use. However, perhaps just as is the case in nature, a combination with rigid robots might be the key to obtaining its full potential. This thesis is aimed at making this connection form a software to hardware point of view. Such a synergy, where rigid and soft parts complement each other, could maximize the impact of soft robotics.
Being a relatively new field, there are challenges in the frontiers of modelling, design and implementation. This thesis is directed towards segments of all of these challenges in an effort to make not only a crude framework for the development of soft robots, but also to illustrate how new capabilities may be implemented within this rich field. On the modelling front, an implementation of combining two well-known kinematic models (the constant curvature model and Cosserat model) on a soft manipulator has been illustrated, and a framework has been suggested wherein models can be used as a design tool. This modelling approach can be used for soft components and for rigid components. On the implementation front techniques of stiffening have been introduced along with the concept of combining soft robots and rigid robots to create a synergy. And finally on the developmental front a new concept of using phase changing working fluids has been introduced which not only provide variable stiffness soft actuators, but also caters the idea of proprioception. Such actuators encompass all three aspects of soft robotics i.e. actuation, stiffening and sensing.
Soft robots undoubtedly bring the promise of revolutionizing the use of robotics, especially for daily life use. However, perhaps just as is the case in nature, a combination with rigid robots might be the key to obtaining its full potential. This thesis is aimed at making this connection form a software to hardware point of view. Such a synergy, where rigid and soft parts complement each other, could maximize the impact of soft robotics.
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