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Soft Robotic End-Effector Design: A Potential for Cost-Effective Maintenance in Aerospace Inspection and Pipe Investigation

Ian Dargai, Antoine Gagne, John Hoover, and Hayden Lingel

Advisors: David Myszka, Ph.D & Andrew Murray, Ph.D

Department of Mechanical & Aerospace Engineering

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Objective: To develop programmable soft robotic end-effector, engineered to perform tasks with dexterity and precision.

Smart Nozzle Design

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DLP Print Quality Concerns:

  • External leaking to atmosphere
  • Internal leaking between chambers

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DIY Prototype

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Why Soft Robots?

  • Naturally compliant, “safe interaction with humans, manipulating and grasping fragile objects” [1]
  • Actuators with high strength-weight ratio

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Applications in various industries:

    • Health care: Exosuits, artificial organs
    • Space exploration: Biologically-inspired actuators
    • Automation: Product manufacturing & assembly

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Why Continuum Robots?

  • Flexible and elastic materials enable bending, twisting, and stretching
  • Similar to biological organisms

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Applications in various industries:

  • Health care: Minimally invasive surgeries
  • Inspection: Hard-to-reach areas
  • Search & Rescue: Disaster areas/buildings
  • Aerospace: Space exploration/maintenance.

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Project Motivation

  • Conduct jet engine repairs in a way that does not require disassembly of engine.

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Experimentation

  • Quality air pressure control is the foundation for all soft robot projects.
  • Multi-channel closed loop pressure control.
  • Used compressed air as pressure source.

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Other Possibilities

  • Continued SOLIDWORKS modeling of new prototypes
  • Pipe crawling soft robots, safe nozzle for splash pad

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References

[1] G. Alici, “Softer is harder: What differentiates soft robotics from hard robotics?,” MRS

Advances, vol. 3, no. 28, pp. 1557–1568, 2018.

[2] “Cutaway Turbofan Engine 3D Model,” https://www.renderhub.com/3d-horse/cutaway-turbofan-engine

[3] HarvardBiodesignLab. “Soft Robot for Tube Navigation via Fiber-Based Mechanical Programming.” YouTube, December 7, 2014. https://www.youtube.com/watch?v=hvxlAbZ9bjM.

[4] “Home.” Downtown Winter Garden, May 2, 2023. https://downtownwg.com/.

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Figure 4: Exploded View of “Taurus” Mounting Assembly

Figure 3: Section View of 2-Chamber “Taurus” Smart Nozzle

Figure 5: (a.) Control Electronics, (b.) Two additively manufactured prototypes.

Figure 6: (a.) Example of a pipe crawling robot [3], (b.) Splash Pad [4]

Figure 1: Artistic render of a jet engine repair tool. Adapted from [2].

Figure 5: Materials and initial mock-up of an inexpensive soft actuator.