Festo_BionicSoftArm

BionicSoftArm Modular system with a wide range of applications The pneumatic segments of the BionicSoftArm each have two bel- lows and a degree of freedom to keep the closed-loop control tech- nology as simple as possible. However, by combining several bel- lows segments and rotary drives, its range of motion can be ex- tended almost arbitrarily. This modular system enables a variable layout – from a simple handling system to a fully-fledged multi-axis robot. In its largest possible version with seven pneumatic actuators, the modular robot arm has seven degrees of freedom. Targeted motion dynamics through 3D textile knitted fabric The bellows are made of sturdy elastomer. Each one of them is covered with a special 3D textile knitted fabric which consists of two layers. A soft knitted fabric lies directly on the bellows to pro- tect them from friction and wear. The high-strength fibres are ori- ented so that they allow the bellows structures to expand in the required direction of movement and at the same time limit this in the other directions. It is only thanks to this new fibre technology that the power potential of the entire kinematics can be exploited. The hoses for airflow are laid on the outside of the robot so that they do not disturb or get squashed when the arm moves. A textile cover pulled over the arm protects the tubing from damage and keeps it in place. Position-accurate movements thanks to digitised pneumatics The control and regulation of complex kinematics is made possible by the Festo Motion Terminal VTEM. Through the internal control algorithms of its motion apps and the installed piezo valves, flow rates and pressures can be exactly dosed and also varied to any setting in several channels simultaneously. The movements of the BionicSoftArm are position-controlled, which is achieved with a model-based approach. Every part of the robot is a model. The required parameters are either calculated or determined using parameter identification. The necessary con- trol algorithms run in real time on the Festo Motion Terminal. The condition of the BionicSoftArm is continuously monitored through pressure and absolute position sensors throughout the entire robot using the Motion Terminal. The interface between the tablet and the Festo Motion Terminal is the ROS (Robot Operating System) open source platform, on which the kinematics’ path planning is calculated. In addition, the ROS interprets the incoming code from the tablet and forwards the re- sulting axis coordinates to the Motion Terminal. On the basis of these coordinates and the incoming sensor data, the Motion Terminal can control the respective pressure in the pneumatic actuators and thus determine the positions of the indi- vidual segments and axes. Adaptive grippers for a wide range of applications The wide range of applications of the modular robot arm can be further expanded by combining it with various bionic grippers. Due to their adaptivity and flexibility, a wide variety of objects and shapes can be accommodated. One of these grippers is the BionicSoftHand. Like the BionicSoftArm, it consists of flexible, pneumatic bellows structures and soft materials. This provides the worker with a versatile gripper which is also capable of learn- ing through artificial intelligence. With its flexible, pneumatic design, the BionicSoftHand differs from electric or cable-operated robot hands and makes inexpen- sive production possible. Thanks to their modular design, there are also gripper variants with three or four gripper fingers – for ex- ample, an adaptive pincer gripper. At present, these grippers are still bionic concepts that could be used in production in the future. From the bionic concept to series product Festo is one step further with the DHEF adaptive shape gripper and the DHAS adaptive gripper finger. Based on the natural role model, both grippers were first designed as prototypes within the frame- work of the Bionic Learning Network and then developed into series products. While the DHEF adaptive shape gripper is predestined for pick-and- place applications, the DHAS adaptive gripper fingers are frequent- ly used for handling sensitive and differently shaped gripping ob- jects – for example, in food processing. Both grippers thus im- pressively demonstrate how bionics can give new impetus to au- tomation. 02: Adaptive pincer gripper: with four pneumatic gripper fingers from BionicSoftHand 01: Largest possible version: the BionicSoftArm with seven pneumatic actuators and just as many degrees of freedom 05: DHAS adaptive gripper fingers: in- spired by the behaviour of the fishtail fin, developed from the FinGripper 03: BionicSoftHand: solving tasks inde- pendently thanks to artificial intelli- gence 04: DHEF adaptive shape gripper: as adaptable as a chameleon’s tongue, developed from the FlexShapeGripper 02 03 01 04 05 Interface for different grippers Pneumatic rotary drives Bellows with 3D textile knitted fabric Safe hose routing Pneumatic bellows segment 6 Festo AG & Co. KG 7 BionicSoftArm: Modular pneumatic lightweight robot