Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

A Novel Modular Cable-Driven Soft Robotic Arm with Multi-Segment Reconfigurability

Moeen Ul Islam, Cheng Ouyang, Xinda Qi, Azlan Zahid, Xiaobo Tan, Dong Chen

Abstract

This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse structural and application requirements. The system is fabricated from soft silicone material and incorporates embedded tendon-routing channels with a protective dual-helical tendon structure. Experimental results showed that modular stacking substantially expanded the reachable workspace: relative to the single-segment arm, the three-segment configuration achieved up to a 13-fold increase in planar workspace area and a 38.9-fold increase in workspace volume. Furthermore, this study investigated the effect of silicone stiffness on actuator performance. The results revealed a clear trade-off between compliance and stiffness: softer silicone improved bending flexibility, while stiffer silicone improved structural rigidity and load-bearing stability. These results highlight the potential of stiffness tuning to balance compliance and strength for configuring scalable, reconfigurable soft robotic arms.

A Novel Modular Cable-Driven Soft Robotic Arm with Multi-Segment Reconfigurability

Abstract

This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse structural and application requirements. The system is fabricated from soft silicone material and incorporates embedded tendon-routing channels with a protective dual-helical tendon structure. Experimental results showed that modular stacking substantially expanded the reachable workspace: relative to the single-segment arm, the three-segment configuration achieved up to a 13-fold increase in planar workspace area and a 38.9-fold increase in workspace volume. Furthermore, this study investigated the effect of silicone stiffness on actuator performance. The results revealed a clear trade-off between compliance and stiffness: softer silicone improved bending flexibility, while stiffer silicone improved structural rigidity and load-bearing stability. These results highlight the potential of stiffness tuning to balance compliance and strength for configuring scalable, reconfigurable soft robotic arms.
Paper Structure (13 sections, 8 figures, 1 table)

This paper contains 13 sections, 8 figures, 1 table.

Table of Contents

  1. INTRODUCTION
  2. HARDWARE DESIGN
  3. Design and Fabrication of Soft Robot
  4. Multi-segment Configuration
  5. Control Electronics
  6. EXPERIMENTAL SETUP
  7. Actuation and Control
  8. Workspace
  9. Payload Testing Setup
  10. Results & Discussion
  11. Workspace characterization of modular configurations
  12. Effect of Silicone Stiffness on Actuation Behavior
  13. CONCLUSIONS

Figures (8)

  • Figure 1: Fabrication process of the silicone-based, cable-driven soft robotic arm: (a) internal assembly components, (b) silicone molding process, and (c) final cured segment.
  • Figure 2: Modular design and assembly of the soft robotic arm. (a) Exploded and assembled views of the actuation module. (b)–(d) Progressive assembly of one-, two-, and three-segment configurations.
  • Figure 3: Controller of the modular soft robotic arm: (a) control board for a single-segment system and (b) complete setup for three-segment actuation.
  • Figure 4: Experimental setup with soft robotic arm, tracking markers, motion capture cameras, and RGB camera.
  • Figure 5: Workspace evaluation of the modular soft robotic arm showing (a) single-, (b) two-, and (c) three-segment configurations. Each subplot presents the workspace envelope and corresponding maximum radial reach ($R_{\max}$).
  • ...and 3 more figures