For colonization in deep space we need to explore the feasibility of a bioregenerative system in microgravity or artificial gravity environments. The process has various complexities form ranging to biological obstacles to engineering limitations of the spacecraft. Concentration of microbes in the confinements of a spacecraft can be fatal for the crew. In this paper, a solution to the elevated microbial levels by farming using robots is discussed. The soft robotic arm is made up of Asymmetric Flexible Pneumatic Actuator (AFPA). The AFPA under internal pressure will curve in the direction of the side having greater thickness as the expansion of the thinner side (outside radius) will be more than thicker side (inside radius) due to differential expansion and moment induced due to eccentricity. Simulation results demonstrate that bending based on AFPA can meet the designed requirement of application. The AFPA is used for five fingers of the robotic hand. The safe, soft touch and gentle motion of the bellow (AFPA) gives the feel of real human hand. The internal pressure of the AFPA is controlled using a solenoid valve which is interfaced using an Arduino microcontroller for hand like moves. The bending of the fingers and degree of freedom (DOF) of the joints of the hand is controlled using an IMU and flex sensor. Wireless connection of the hand and the control system is implemented using XBee pro 60mW with a range of 1 miles. The pneumatic soft robotic hand is made up of solenoid valve, Mini Compressor, AFPA bellow, and Servos. This soft robotic hand has many advantages such as good adaptability, simple structure, small size, high flexibility and less energy loss. As an extension Manual control of the robot using a virtual reality environment and well as some possible aspects of an automated farming systems can be considered as future additions.


    Access

    Download


    Export, share and cite



    Title :

    Design and development of soft robotic hand for vertical farming in spacecraft


    Contributors:

    Publication date :

    2020-03-01


    Remarks:

    oai:zenodo.org:3931410
    IAES International Journal of Robotics and Automation (IJRA) 9(1) 6-16



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Soft-Robotic, Propellant-Free Servicers for LEO Spacecraft

    McMahon, Jay W. / Sipowa, Hermann K. / Givens, Matthew et al. | IEEE | 2022


    Miniature Robotic Spacecraft for Inspecting Other Spacecraft

    Fredrickson, Steven / Abbott, Larry / Duran, Steve et al. | NTRS | 2004


    Spider Legs Inspired Soft Robotic Extensor for Hand Rehabilitation

    Young, Jhet Cooperrider / Olson, Eric / Do, Tony et al. | IEEE | 2024


    Design of a 3D-Printed Soft Robotic Hand With Integrated Distributed Tactile Sensing

    Oliver Shorthose / Alessandro Albini / Liang He et al. | BASE | 2022

    Free access

    Design of a 3D-printed soft robotic hand with integrated distributed tactile sensing

    Shorthose, O / Albini, A / He, L et al. | BASE | 2022

    Free access