부산대학교 도서관

Rather than being restricted to industrial settings, robots are now being utilized in a variety of contexts, including homes, schools, and medical centers. However, in contrast to traditionally designed robots, these robots are flexible and have a high number of degrees of freedom (DOF), allowing them to perform a wide range of tasks. With the hyper-redundant DOF, the robot has the capacity to elongate, shorten, and bend, as well as regulate the force that the robot applies to its surroundings in a safer mode. In this study, a tendon-driven soft robot skeleton with an elastic constant curvature bone structure is developed using a non-assembly additive manufacturing approach. A spherical joint is 3D-printed using a non-assembly technique with an elastic constant curvature bone structure. The workspace of the 3D-printed tendon-driven soft robot is analyzed by understanding the actuated tendons and how they interfere with the backbone structure. A criterion for evaluating robot designs has been established. The criterion is developed by utilizing an optimization function to find the best possible solution. Using the optimization method in MATLAB simulation, the optimal internal space radius and bending angle in the workspace are determined. The proposed approach could be used for non-assembly 3D printing fabrication of soft robotic joints and their workspace optimization in diverse applications such as human-machine interaction systems and medical instruments.