group
What campus are you from?
Daytona Beach
Authors' Class Standing
Bryan Gonzalez, Junior Sergio Carli, Junior Ryan Ebrahimi, Sophomore
Lead Presenter's Name
Bryan Gonzalez
Faculty Mentor Name
Sergey Drakunov
Abstract
This soft robotic arm is specifically designed for construction drones to be used in place of scaffolding. The Soft robotic arm for construction drones known as SCRAD is a two-link robotic arm that is actuated through the usage of Fluid-driven Origami Artificial Muscles (FOAMs). The FOAMS are comprised of 3d printed skeleton and plastic sheath that can then be actuated with the introduction of vacuum pressure. The arm design, excluding its external hardware, weighs approximately 2.16 pounds encompassing its two links, universal jamming gripper, and mounting hardware, making it highly viable for mounting on a medium-sized drone. The FOAMs can each pull up to 5.5 pounds at -80 KPa of vacuum relative to the atmosphere, allowing for manipulating small tools and parts. The linear controls that have been applied to the platform include a basic negative feedback loop and PID controller with great success. The project also has plans to expand in to the testing to non-linear controls of the system to increase the accuracy of the systems control of the arm.
Did this research project receive funding support from the Office of Undergraduate Research.
Yes, SURF
Soft Robotic Arm for Construction Drones
This soft robotic arm is specifically designed for construction drones to be used in place of scaffolding. The Soft robotic arm for construction drones known as SCRAD is a two-link robotic arm that is actuated through the usage of Fluid-driven Origami Artificial Muscles (FOAMs). The FOAMS are comprised of 3d printed skeleton and plastic sheath that can then be actuated with the introduction of vacuum pressure. The arm design, excluding its external hardware, weighs approximately 2.16 pounds encompassing its two links, universal jamming gripper, and mounting hardware, making it highly viable for mounting on a medium-sized drone. The FOAMs can each pull up to 5.5 pounds at -80 KPa of vacuum relative to the atmosphere, allowing for manipulating small tools and parts. The linear controls that have been applied to the platform include a basic negative feedback loop and PID controller with great success. The project also has plans to expand in to the testing to non-linear controls of the system to increase the accuracy of the systems control of the arm.