A low-cost experimental rig for multi-DOF unsteady thrust measurements of aquatic bioinspired soft robots
A low-cost experimental rig for multi-DOF unsteady thrust measurements of aquatic bioinspired soft robots
The design, calibration and testing of an experimental rig for measuring 2-DOFs unsteady loads over aquatic robots is discussed. The presented apparatus is specifically devised for thrust characterization of a squid-inspired soft unmanned underwater vehicle, but its modular design lends itself to more general bioinspired propulsion systems and the inclusion of additional degrees of freedom. A purposely designed protocol is introduced for combining calibration and error compensation upon which force and moment measurements can be performed with a mean error of 0.8% in steady linear loading and 1.7% in unsteady linear loading, and mean errors of 10.2% and 9.4% respectively for the case of steady and dynamic moments at a sampling rate of the order of 10 Hz. The ease of operation, the very limited cost of manufacturing and the degree of accuracy make this an invaluable tool for
fast prototyping and low-budget projects broadly applicable in the soft robotics community.
Lidtke, Artur K.
5570c46b-09b5-4345-9f5c-7a5ed2a29ffc
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Lisle, Matt
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Weymouth, Gabriel D.
b0c85fda-dfed-44da-8cc4-9e0cc88e2ca0
24 April 2018
Lidtke, Artur K.
5570c46b-09b5-4345-9f5c-7a5ed2a29ffc
Giorgio-Serchi, Francesco
8571dc14-19c1-4ed1-8080-d380736a6ffa
Lisle, Matt
e25e3172-e2be-4e2b-930e-63ede445c5c6
Weymouth, Gabriel D.
b0c85fda-dfed-44da-8cc4-9e0cc88e2ca0
Lidtke, Artur K., Giorgio-Serchi, Francesco, Lisle, Matt and Weymouth, Gabriel D.
(2018)
A low-cost experimental rig for multi-DOF unsteady thrust measurements of aquatic bioinspired soft robots.
IEEE-RAS International Conference on Soft Robotics, Meeting and Conference Centre Palazzo Pancaldi,, Livorno, Italy.
24 - 28 Apr 2018.
6 pp
.
Record type:
Conference or Workshop Item
(Paper)
Abstract
The design, calibration and testing of an experimental rig for measuring 2-DOFs unsteady loads over aquatic robots is discussed. The presented apparatus is specifically devised for thrust characterization of a squid-inspired soft unmanned underwater vehicle, but its modular design lends itself to more general bioinspired propulsion systems and the inclusion of additional degrees of freedom. A purposely designed protocol is introduced for combining calibration and error compensation upon which force and moment measurements can be performed with a mean error of 0.8% in steady linear loading and 1.7% in unsteady linear loading, and mean errors of 10.2% and 9.4% respectively for the case of steady and dynamic moments at a sampling rate of the order of 10 Hz. The ease of operation, the very limited cost of manufacturing and the degree of accuracy make this an invaluable tool for
fast prototyping and low-budget projects broadly applicable in the soft robotics community.
Text
SoRo2018_LidtkeSerchiWeymouth
- Accepted Manuscript
More information
Accepted/In Press date: 2018
Published date: 24 April 2018
Venue - Dates:
IEEE-RAS International Conference on Soft Robotics, Meeting and Conference Centre Palazzo Pancaldi,, Livorno, Italy, 2018-04-24 - 2018-04-28
Identifiers
Local EPrints ID: 418281
URI: http://eprints.soton.ac.uk/id/eprint/418281
PURE UUID: 107f0748-ae5b-4e07-a763-b18bc0121a6a
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Date deposited: 27 Feb 2018 17:30
Last modified: 16 Mar 2024 04:15
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Contributors
Author:
Francesco Giorgio-Serchi
Author:
Matt Lisle
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