Soft robotics: applications, design and control by Silvia Terrile instant download

Soft robotics: applications, design and control by Silvia Terrile instant download

This work studies soft robots in their different applications fields. Soft robotics is a relatively new field of robotics characterized above all by the use of soft materials that allow obtaining more flexible robots that adapt better to their environment and interact more safely with people. Despite having many advantages, their flexibility and softness make them much more complicated to model and control than conventional robots. 
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This work begins by offering an updated state of the art on soft robots, proposing a definition and dividing them into four large groups: bio-inspired, manipulators, grippers, and wearable. The different prototypes realized are presented for each group, showing the design and control used in each case. In some cases, the use of more conventional actuators as motors is compared with others better adapted to soft prototypes such as SMA (Shape Memory Alloy). The use of the SMA is an added challenge in the already complicated world of soft robotics due to its difficult control.