Fabrication of somatosensitive actuators based on embbeded sensors and soft robotics grippers
This document presents the process of design. manufacturing, and testing of a sof robotic actuator with embbeded sensors with the purpose of using it as a part of a somatosensitive soft robotic gripper. To achieve this, an analytical model of the actuator, simulation procedures, and experimental tes...
- Autores:
-
Fernández Mier, Mateo De Jesús
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2025
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/76024
- Acceso en línea:
- https://hdl.handle.net/1992/76024
- Palabra clave:
- Soft robots
Hyperelasticity
Somatosensitive actuator
Resistive sensor
Pneumatic actuation
Ingeniería
- Rights
- openAccess
- License
- Attribution-NonCommercial 4.0 International
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Fabrication of somatosensitive actuators based on embbeded sensors and soft robotics grippers |
| title |
Fabrication of somatosensitive actuators based on embbeded sensors and soft robotics grippers |
| spellingShingle |
Fabrication of somatosensitive actuators based on embbeded sensors and soft robotics grippers Soft robots Hyperelasticity Somatosensitive actuator Resistive sensor Pneumatic actuation Ingeniería |
| title_short |
Fabrication of somatosensitive actuators based on embbeded sensors and soft robotics grippers |
| title_full |
Fabrication of somatosensitive actuators based on embbeded sensors and soft robotics grippers |
| title_fullStr |
Fabrication of somatosensitive actuators based on embbeded sensors and soft robotics grippers |
| title_full_unstemmed |
Fabrication of somatosensitive actuators based on embbeded sensors and soft robotics grippers |
| title_sort |
Fabrication of somatosensitive actuators based on embbeded sensors and soft robotics grippers |
| dc.creator.fl_str_mv |
Fernández Mier, Mateo De Jesús |
| dc.contributor.advisor.none.fl_str_mv |
Ávila Bernal, Alba Graciela |
| dc.contributor.author.none.fl_str_mv |
Fernández Mier, Mateo De Jesús |
| dc.contributor.jury.none.fl_str_mv |
López Jiménez, Jorge Alfredo |
| dc.subject.keyword.eng.fl_str_mv |
Soft robots Hyperelasticity Somatosensitive actuator Resistive sensor Pneumatic actuation |
| topic |
Soft robots Hyperelasticity Somatosensitive actuator Resistive sensor Pneumatic actuation Ingeniería |
| dc.subject.themes.spa.fl_str_mv |
Ingeniería |
| description |
This document presents the process of design. manufacturing, and testing of a sof robotic actuator with embbeded sensors with the purpose of using it as a part of a somatosensitive soft robotic gripper. To achieve this, an analytical model of the actuator, simulation procedures, and experimental testing was used to achieve the best parameters to guarantee the desired performance. All together with the use of 3D printing and fast curing elastomers as manufacturing methods, a prototype was developed integrated with a sensor circuit. |
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2025 |
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2025-02-06T20:03:40Z |
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2025-02-06T20:03:40Z |
| dc.date.issued.none.fl_str_mv |
2025-01-31 |
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Trabajo de grado - Pregrado |
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instname:Universidad de los Andes |
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eng |
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eng |
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Mohammadreza Lalegani Dezaki et al. “Soft pneumatic actuators with integrated resistive sensors enabled by multi-material 3D printing”. In: International Journal of Advanced Manufacturing Technology 128 (9-10 Oct. 2023), pp. 4207–4221. issn: 14333015. doi: 10.1007/s00170-023-12181-8. Dragon Skin™ 10 FAST vs. Dragon Skin™ 30 vs. Ecoflex™ 00-10 vs. Ecoflex™ 00-30. url: https://www.smooth- on.com/compare/4544/4859/4796/4985/a/. Zhu Liu et al. “Modeling and Analysis of Soft Pneumatic Network Bending Actuators”. In: IEEE/ASME Transactions on Mechatronics 26.4 (2021), pp. 2195–2203. doi: 10.1109/TMECH.2020.3034640. Luc Marechal et al. “Towards a Common Framework and Database of Materials for Soft Robotics”. In: Soft Robotics 0.0 (2020), null. doi: 10.1089/soro.2019.0115. PneuNets Bending Actuators— Soft Robotics Toolkit. url: https://softroboticstoolkit.com/book/pneunets-%20bending-actuator. Ciprian Rad, Olimpiu Hancu, and Ciprian Lapusan. “Data-Driven Kinematic Model of PneuNets Bending Actuators for Soft Grasping Tasks”. In: Actuators 11 (2 Feb. 2022). issn: 20760825. doi: 10.3390/act11020058. Ryan L. Truby et al. “Soft robotic fingers with embedded ionogel sensors and discrete actuation modes for somatosensitive manipulation”. In: RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. Institute of Electrical and Electronics Engineers Inc., May 2019, pp. 322–329. isbn: 9781538692608. doi: 10.1109/ROBOSOFT.2019.8722722. Ryan L. Truby et al. “Soft Somatosensitive Actuators via Embedded 3D Printing”. In: Advanced Materials 30 (15 Apr. 2018). issn: 15214095. doi:10.1002/adma.201706383. |
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42 páginas |
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Universidad de los Andes |
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Ingeniería Electrónica |
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Facultad de Ingeniería |
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Departamento de Ingeniería Eléctrica y Electrónica |
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Universidad de los Andes |
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Ávila Bernal, Alba Gracielavirtual::23873-1Fernández Mier, Mateo De JesúsLópez Jiménez, Jorge Alfredo2025-02-06T20:03:40Z2025-02-06T20:03:40Z2025-01-31https://hdl.handle.net/1992/76024instname:Universidad de los Andesreponame:Repositorio Institucional Sénecarepourl:https://repositorio.uniandes.edu.co/This document presents the process of design. manufacturing, and testing of a sof robotic actuator with embbeded sensors with the purpose of using it as a part of a somatosensitive soft robotic gripper. To achieve this, an analytical model of the actuator, simulation procedures, and experimental testing was used to achieve the best parameters to guarantee the desired performance. All together with the use of 3D printing and fast curing elastomers as manufacturing methods, a prototype was developed integrated with a sensor circuit.Pregrado42 páginasapplication/pdfengUniversidad de los AndesIngeniería ElectrónicaFacultad de IngenieríaDepartamento de Ingeniería Eléctrica y ElectrónicaAttribution-NonCommercial 4.0 Internationalhttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Fabrication of somatosensitive actuators based on embbeded sensors and soft robotics grippersTrabajo de grado - Pregradoinfo:eu-repo/semantics/bachelorThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_7a1fTexthttp://purl.org/redcol/resource_type/TPSoft robotsHyperelasticitySomatosensitive actuatorResistive sensorPneumatic actuationIngenieríaMohammadreza Lalegani Dezaki et al. “Soft pneumatic actuators with integrated resistive sensors enabled by multi-material 3D printing”. In: International Journal of Advanced Manufacturing Technology 128 (9-10 Oct. 2023), pp. 4207–4221. issn: 14333015. doi: 10.1007/s00170-023-12181-8.Dragon Skin™ 10 FAST vs. Dragon Skin™ 30 vs. Ecoflex™ 00-10 vs. Ecoflex™ 00-30. url: https://www.smooth- on.com/compare/4544/4859/4796/4985/a/.Zhu Liu et al. “Modeling and Analysis of Soft Pneumatic Network Bending Actuators”. In: IEEE/ASME Transactions on Mechatronics 26.4 (2021), pp. 2195–2203. doi: 10.1109/TMECH.2020.3034640.Luc Marechal et al. “Towards a Common Framework and Database of Materials for Soft Robotics”. In: Soft Robotics 0.0 (2020), null. doi: 10.1089/soro.2019.0115.PneuNets Bending Actuators— Soft Robotics Toolkit. url: https://softroboticstoolkit.com/book/pneunets-%20bending-actuator.Ciprian Rad, Olimpiu Hancu, and Ciprian Lapusan. “Data-Driven Kinematic Model of PneuNets Bending Actuators for Soft Grasping Tasks”. In: Actuators 11 (2 Feb. 2022). issn: 20760825. doi: 10.3390/act11020058.Ryan L. Truby et al. “Soft robotic fingers with embedded ionogel sensors and discrete actuation modes for somatosensitive manipulation”. In: RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. Institute of Electrical and Electronics Engineers Inc., May 2019, pp. 322–329. isbn: 9781538692608. doi: 10.1109/ROBOSOFT.2019.8722722.Ryan L. Truby et al. “Soft Somatosensitive Actuators via Embedded 3D Printing”. 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