Design, characterization, and manufacturing of circular bellows pneumatic soft actuator

Rehman, Tariq; Faudzi, Ahmad Athif Mohd; Dewi, Dyah Ekashanti Octorina; Ali, Mohamad Sultan Mohamad

doi:10.1007/s00170-017-0891-z

Cited by 26 publications

(11 citation statements)

References 31 publications

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“…This asymmetry has been achieved in numerous ways such as having a semi-convolution about a flat plate such that the bellows are effectively on only one side of the flat plate. This results in the centroid being slightly shifted from the center of pressure [ 40 ], [ 41 ] and causes the bending action. Various bellow convolution profiles for both linear and bending actuators have been investigated including U-shaped, triangular and square [ 33 ], [ 40 ], [ 41 ], and each can be optimized based on geometric parameters to achieve desired elongation and force requirements.…”

Section: Soft Bellows Actuatorsmentioning

confidence: 99%

Characterization of Soft 3D Printed Actuators for Parallel Networks

Khetan

Blumenschein

2022

IEEE Robot. Autom. Lett.

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mm. The plots show the entire axial force versus pressure data obtained from the F/T transducer. The markers are only added for visibility and identification of the different actuator configurations. The legend markers signify the nominal ∆L and θ. . . . . . . . 3.8 Axial forces vs air inlet pressure for elongated actuator lengths. (a) Axial forces for different orientation angles when nominal ∆L = 1 mm, (b) Axial forces for different orientation angles when nominal ∆L = 2 mm. The plots show the entire axial force versus pressure data obtained from the F/T transducer. The markers are only added for visibility and identification of the different actuator configurations. The legend markers signify the nominal ∆L and θ. . . . . . . . 3.9 Shear forces vs air inlet pressure for compressed actuator lengths. (a) Shear forces for different orientation angles when nominal ∆L = −1 mm, (b) Shear forces for different orientation angles when nominal ∆L = −2 mm. The plots show the entire shear force versus pressure data obtained from the F/T transducer. The markers are only added for visibility and identification of the different actuator configurations. The legend markers signify the nominal ∆L and θ. . . . . . . . 3.10 Shear forces vs air inlet pressure for elongated actuator lengths. (a) Shear forces for different orientation angles when nominal ∆L = 1 mm, (b) Shear forces for different orientation angles when nominal ∆L = 2 mm. The plots show the entire shear force versus pressure data obtained from the F/T transducer. The markers are only added for visibility and identification of the different actuator configurations. The legend markers signify the nominal ∆L and θ. . . . . . . .

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Section: Soft Bellows Actuatorsmentioning

confidence: 99%

Characterization of Soft 3D Printed Actuators for Parallel Networks

Khetan

Blumenschein

2022

IEEE Robot. Autom. Lett.

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“…[32][33][34][35][36][37] Among inflated soft robotic actuators, bellows chambers have been widely employed for their simplicity and sensitivity to single-DoF deformation. [38][39][40][41][42][43] The bellows chambers used in this study concentrate elongation/ contraction motion in the axial direction. Figure 2a shows the overall deformation of a bellows chamber.…”

Section: Antagonistic Design Of a Soft Actuator With Bellows Structurementioning

confidence: 99%

Mechanoreception for Soft Robots via Intuitive Body Cues

Wang

2020

Soft Robotics

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Mechanoreception, the ability of robots to detect mechanical stimuli from the internal and external environments, contributes significantly to improving safety and task performance during the operation of robots in unstructured environments. Various approaches have been proposed to endow robot systems with mechanoreception. In the case of soft robots, the state-of-the-art mechanosensory solutions typically embedded dedicated deformable sensors into the soft body, giving rise to fabrication complexity and signal sophistication. In this study, we propose a novel mechanoreception scheme to enable pneumatic-driven soft robots to perceive proprioceptive movements as well as external contacts. Both internal and external mechanical parameters can be decoded from intuitive cues of body deformation and pneumatic pressure signals. In contrast to most existing solutions employing dedicated deformable sensors, the proposed approach only utilizes pressure feedback, which is typically available from the pneumatic pressure sensors incorporated in the control loop of most pneumatic soft robots. The concept was implemented and validated on a proprietary robotic gripper with a linear soft pneumatic actuator, demonstrating the capability in simultaneous detection of actuator position and external contact forceAfter the proposed approach, the gripper can achieve both active and passive mechanosensation, with demonstrated experiments in grasping force estimation, contact loss detection, object stiffness identification, and contour measurements. This approach offers an alternative route to achieving excellent internal/environmental awareness without requiring dedicated sensing modalities.

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“…Pneumatic pressure is used to trigger the actuator to bend. Different applications have been reported using such actuators (Li et al , 2020; Lu and Tong, 2021; Moseley et al , 2016; Rehman et al , 2017, 2018; Souza and Silva, 2020; Sparrman et al , 2021; Sun et al , 2019; Tarvirdizadeh et al , 2016) made up of silicone material and shape memory alloy (Bauer et al , 2014; Cheraghpour et al , 2020; Shakiba et al , 2020; Wang et al , 2017). A large robot is developed by integrating the battery, compressor and controller (Homberg et al , 2015).…”

Section: Introductionmentioning

confidence: 99%

Optimization of elephant trunk soft pneumatic actuator using finite element method

Venkatesan

Shanmugam

Veerappan

2021

WJE

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Purpose This paper aims to study the influence of significant design parameters of elephant trunk soft pneumatic actuator and presents maximum optimized geometric structure of the actuator using finite element method. Design/methodology/approach Analysis of variance (ANOVA) is used to examine the influence of significant parameters such as wall thickness, bottom layer thickness and gap between adjacent chambers on the performance of the soft actuator. The most influencing parameter is found to be the wall thickness compared to the gap between adjacent chambers and bottom layer thickness. Findings The optimization of bending moment recommends a wall thickness of 1.5 mm, a gap between the adjacent channels of 1.5 mm and bottom layer thickness of 4 mm for the actuator. The theoretical expression of mechanical parameters is described. Originality/value The design optimization of elephant trunk shaped soft actuator with respect to bending angle and force analysis has not been investigated.

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Design, characterization, and manufacturing of circular bellows pneumatic soft actuator

Cited by 26 publications

References 31 publications

Characterization of Soft 3D Printed Actuators for Parallel Networks

Characterization of Soft 3D Printed Actuators for Parallel Networks

Mechanoreception for Soft Robots via Intuitive Body Cues

Optimization of elephant trunk soft pneumatic actuator using finite element method

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