Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications

The rising interest in soft robotics, combined to the increasing applications space industry, leads development of novel lightweight and deployable robotic systems, that could be easily contained a relatively small package deployed when required. main challenges for systems are low force exertion control complexity. In this manuscript, manipulator concept, having inflatable links, is introduced face these issues. A prototype link manufactured statically characterized using pseudo-rigid body model on varying inflation pressure. Moreover, full robot algorithms load pose estimation presented. Finally, strategy, inverse kinematics an elastostatic approach, developed. Experimental results provide input data algorithm, its validity domain discussed basis simulation model. This preliminary analysis puts future advancements building developing dynamic models robust control.