Development of Underactuated Geometric Compliant (UGC) Module with Variable Radial for Robotic Applications

TL;DR

This paper presents a novel underactuated geometric compliant (UGC) robot with variable radial stiffness, designed through innovative compliant joints, mathematical modeling, and 3D printing, enabling dynamic radius adjustment and enhanced robotic versatility.

Contribution

Introduces a new UGC module with variable radius, combining experimental joint design, Gaussian process modeling, and prototype fabrication for improved robotic applications.

Findings

Prototype UGC can reduce radius to 80-85% of original size.

Validated stiffness and durability of compliant joints.

Demonstrated effective integration of geometric joints into functional modules.

Abstract

This paper introduces a novel underactuated geometric compliant (UGC) robot and investigates the behaviors of underactuated compliant modules with variable radial stiffness, aiming to enhance the versatility and functionality of UGC robots. We initiate the study by designing and fabricating various compliant semi-rigid geometric joints, each tailored to a specific design objective. These joints undergo physical testing to validate their stiffness characteristics and returnable angles as durability factors. Subsequently, we develop a mathematical model based on Gaussian process regression to incorporate the different geometric joint characteristics, including thickness, facilitating the development of fully functional prototypes with easy-to-3D print models. After analyzing individual joints, we present various configurational combinations to construct the overall UGC module for robotics applications. Our final prototype UGC can dynamically alter its radius, reducing to 80-85\% of its original value while maintaining structural integrity and operational efficiency. This study discusses potential abilities, challenges, and limitations associated with employing UGC modules, offering valuable insights for future research and developments in UGC robotics.