Numerical evaluation of a new robotic manipulator based on inflatable joints

Abstract

This paper deals with a finite element evaluation of new kind of robotic arm based on a complete inflatable structure. Soft robotics and particularly inflatable robotics are now considered as a credible alternative to classical structures for a wide field of robotics. As they are made of textile materials, inflatable robots allow compact packaging and easier robot deployment. Moreover, they could be used in hostile and hard-to-reach spaces such as the inspection of nuclear plants. The main difficulty for the development of this technology is the design of efficient joints. Based on spacesuit-like-joints a new prototype of inflatable manipulator was constructed and tested. Here thanks to finite elements modeling its numerical evaluation is presented by comparing its mechanical performances to an existing solution. This analysis of the complete dynamical behavior has come up also with some new results and guidance for designing inflatable joints.