Development of Novel Stewart Robot Equipped with 3D Printed Soft Actuators

Abstract

The Stewart platform, a parallel robot configuration, traditionally employs six rigid linear actuators to connect a base with a mobile platform. These actuators, typically prismatic and connected by spherical or universal joints, are arranged in alternating pairs, enabling six degrees of freedom in positioning and orientation. While this architecture has proven effective in applications requiring robust and rigid positioning systems, the advent of soft or compliant actuators presents new possibilities, especially in applications where safety is paramount, such as in medical robots involving human contact. This paper introduces a novel compliant Stewart mechanism, incorporating soft 3D-printed linear actuators designed to replace the rigid joints and legs in conventional rigid Stewart mechanisms. It explores the implementation of these soft actuators within the Stewart platform's framework, aiming to retain its six degrees of freedom (DOF) motion while enhancing safety and adaptability in sensitive environments. The results demonstrate the feasibility and potential of this approach, opening new avenues in robotic design for medical and other human-interactive applications where the combination of precision, safety, and adaptability is critical.