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Experimental bending performance characterization of sHAMs used underwater growing robot

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dc.contributor.author Malinda, HAN
dc.contributor.author Marasingha, MMTM
dc.contributor.author Senarath, SCD
dc.contributor.author Dassanayake, PC
dc.contributor.author Kulasekara, AL
dc.date.accessioned 2024-07-22T05:28:57Z
dc.date.available 2024-07-22T05:28:57Z
dc.date.issued 2023-12
dc.identifier.uri http://dl.lib.uom.lk/handle/123/22590
dc.description.abstract Soft-growing robots represent an emerging field characterized by their ability to extend at the tip while the base remains stationary. These robots offer a unique advantage in navigating through confined spaces inaccessible to humans. Specifically, in underwater exploration tasks, their flexible bodies render them particularly efficient. Moreover, these robots exhibit the capability to steer even while growing. There exist several steering methods including sHAMs (soft Hydraulic Artificial Muscles), sPAMs (soft Pneumatic Artificial Muscles), tendon-driven techniques, and predefined bending mechanisms, applicable both in air and underwater [1],[2]. This paper specifically delves into the study of sHAMs (soft Hydraulic Artificial Muscles) and their inherent characteristics. Various critical factors influence the bending behavior of sHAMs, including pressure, the diameter ratio between the robot body and the sHAM, the length of the robot body, and the number of sHAMs employed. In this study, we concentrate on varying the diameter ratio between the body and sHAM, while keeping other parameters constant. To achieve this, we fabricated robot bodies with varying diameters while maintaining a constant diameter for the sHAM. By systematically analyzing the results obtained from this experimental setup, we aim to provide insights into how the bending angle varies in relation to the diameter ratio. en_US
dc.language.iso en en_US
dc.publisher Engineering Research Unit en_US
dc.subject Soft growing robot en_US
dc.subject sHAMs en_US
dc.subject Steering en_US
dc.subject Exploratory en_US
dc.subject Robot body diameter en_US
dc.title Experimental bending performance characterization of sHAMs used underwater growing robot en_US
dc.type Conference-Extended-Abstract en_US
dc.identifier.faculty Engineering en_US
dc.identifier.department Department of Mechanical Engineering en_US
dc.identifier.year 2023 en_US
dc.identifier.conference ERU Symposium - 2023 en_US
dc.identifier.place Sri Lanka en_US
dc.identifier.pgnos pp. 16-17 en_US
dc.identifier.proceeding Proceedings of the ERU Symposium 2023 en_US
dc.identifier.email malindahan.19@uom.lk en_US
dc.identifier.email marasinghammtm.19@uom.lk en_US
dc.identifier.email senarathscd.19@uom.lk en_US
dc.identifier.email palitha@uom.lk en_US
dc.identifier.email asitha@uom.lk en_US
dc.identifier.doi https://doi.org/10.31705/ERU.2023.7 en_US


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