MTech Project : Development and Analysis of a Soft Humanoid Robot Made up of Flexible fluidic Actuators and Compliant Links
By Bhushan Darekar
MTech Mechatronics College of Engineering Pune
Under the guidance of Dr S S Ohol
Soft robots are made up of soft elastomeric materials. The most important challenge was the selection of suitable materials for the robot. Silicone Rubber and Polyurethane (PU) Foam were the elastomers selected and tested successfully. Design of a mathematical model for each type of actuator was done and tweaking different dependent parameters gave out different possible iterations for desired actuation output. Analysis and simulations of different iterations of actuators were done and the iterations with desired converged solutions were selected. All the actuators were manufactured using casting process. The moulds for the casting process were designed, modelled and 3D printed in-house in our laboratory. The variable stiffness forearm was made up of foam embedded with inflatable links. In order to make each part modular in nature, the design of joints and end connectors was crucial. Thus, In case of failure of one part of the assembly, Only that part is able to be replaced with all the other parts remain at their places.
Special thanks to Prabhakar Naik , Jayant Unde, FABLAB COEP
