Design Optimization and Analysis of External Corrugation and Geometry of Asymmetrical Bellow Flexible Pneumatic Actuator

Pranav, V K; Prakash, Amal; Rajendran, Anikesh; Sreedharan, Pramod

doi:10.1088/1757-899x/1132/1/012011

Cited by 2 publications

(2 citation statements)

References 4 publications

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“…34 Multiobjective goals balancing bending angle and contact force have been targeted through integrated FEA and optimization. [35][36][37][38] Overall, these pioneering studies have established the utility of modeling and analysis techniques for improving soft actuator designs.…”

Section: Introductionmentioning

confidence: 99%

A structural optimization analysis of cable-driven soft manipulator

Khalil,

Habib,

Seadby

et al. 2024

International Journal of Advanced Robotic Systems

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Cable-driven soft robots hold significant potential for surgical and industrial applications, yet their performance and maneuverability can be further enhanced through design optimization. By optimizing the design, factors such as bending angles, manipulator deformation, and overall functionality can be directly influenced, leading to improved interaction with the environment and more accurate task performance. This article presents a physics-based design optimization approach for cable-driven soft robotic manipulators, aiming to enhance bending performance through structural design enhancements. Four design criteria, namely, cross-sectional shape, material, gap shape, and gap size, are considered in the optimization process. Given the inherent nonlinearity of soft materials, finite element modeling techniques are employed to analyze the effects of modifying each design parameter on displacement and bending angle. The manipulator’s design is evaluated using ABAQUS/CAE, and an analysis of variance test is conducted to identify significant performance differences among the design parameters. The results reveal that material variation has the most substantial impact, followed by gap shape and gap size. Based on subsequent parameter optimization, Dragon Skin 10 is determined to be the optimal material for bending motion, while a trapezoidal gap shape is preferred. In addition, a genetic algorithm is utilized to select a maximum gap size of 8.87 mm. These findings provide valuable insights into key design principles for cable-driven soft manipulators, aiming to enhance flexibility and reduce actuation forces. By establishing a fundamental understanding of the relationship between morphology and motion capability, this methodology demonstrates an effective simulation-driven optimization approach that incorporates the nonlinear elastic behavior of materials to improve performance. Overall, this work establishes a framework for optimizing cable-driven architectures to suit various applications in the field of soft robotics.

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Section: Introductionmentioning

confidence: 99%

A structural optimization analysis of cable-driven soft manipulator

Khalil,

Habib,

Seadby

et al. 2024

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…From the literature review on geometrical aspects of soft actuators it is observed that, comparatively fewer studies have investigated the semi-cylindrical shaped actuators [27][28][29][30]. Among these studies, Tan et al [28] and Wang et al [30] experimentally measured the forces generated by the soft gripppers.…”

Section: Introductionmentioning

confidence: 99%

Effects of Inflation Pressure and Wall Thickness on Gripping Force of Semi-Cylindrical Shaped Soft Actuator: Numerical Investigation

Deepak

Menon

D'Souza

et al. 2022

IJE

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Soft robotics using Pneumatic Network actuators (Pneu-Net) is a developing field that has a promising future for variety of applications involving delicate operations such as biomedical assistance. The interaction between geometry and the performance of the actuator is an important topic which has been studied by many researchers in this field. However, there is a lack of investigation on the relationship between gripping capability and geometrical parameters of soft actuators. Especially, there is a need to shed more light on the effects of wall thicknesses on the gripping force developed. In the present study, a semi-cylindrical chambered PneuNet soft actuator is numerically investigated to evaluate the effects of pressure and wall thickness variations on its performance characteristics. The results revealed that increasing the restraining layer thickness (RLT) aids the bending capability of the actuator whereas increasing the chamber wall thickness reduces it. Therefore, maximum bending of the actuator is achieved at the combinations of minimum wall thickness and maximum RLT. At these geometrical configurations of maximum bending, the deformation-pressure relationships followed a sigmoidal function and tended towards linearity with increasing wall thickness and decreasing RLT. The gripping force showed an exponential increase with increasing working pressures and wall thicknesses. The maximum gripping force increased cubically with increasing wall thicknesses at their respective maximum working pressures, which was modeled using a polynomial regression model (R 2 =99.79%).

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Design Optimization and Analysis of External Corrugation and Geometry of Asymmetrical Bellow Flexible Pneumatic Actuator

Cited by 2 publications

References 4 publications

A structural optimization analysis of cable-driven soft manipulator

A structural optimization analysis of cable-driven soft manipulator

Effects of Inflation Pressure and Wall Thickness on Gripping Force of Semi-Cylindrical Shaped Soft Actuator: Numerical Investigation

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