Long-term cycle-tests of an additively manufactured soft ring-gripper

Schreiber, Florian; Manns, Martin

doi:10.1016/j.procir.2021.11.134

Cited by 1 publication

(1 citation statement)

References 10 publications

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“…For example, the expansion type balloon actuator in one of its design utilizes a bellows-like pattern with cylindrical fluidic channels which is designed to generate rapid linear elongation by concentrating the changes in volume in one direction ( Dämmer et al, 2021 ; Hashem et al, 2021 ). This type of motion has been utilized in a ring-shaped robot gripper and in an endoscope stabilizer ( Gorissen et al, 2018 ; Schreiber and Manns, 2021 ). The contracting type of balloon actuator produces axial shortening using radial expansion of the fluid chamber ( Dang et al, 2019 ).…”

Section: Introductionmentioning

confidence: 99%

Characterization of bending balloon actuators

Kumar²,

Rosen³

et al. 2022

Front. Robot. AI

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The emerging field of soft robotics often relies on soft actuators powered by pressurized fluids to obtain a variety of movements. Strategic incorporation of soft actuators can greatly increase the degree of freedom of soft robots thereby bestowing them with a range of movements. Balloon actuators are extensively used to achieve various motions such as bending, twisting, and expanding. A detailed understanding of how material properties and architectural designs of balloon actuators influence their motions will greatly enable the application of these soft actuators. In this study, we developed a framework involving experimental and theoretical analyses, including computational analysis, delineating material and geometrical parameters of balloon actuators to their bending motions. Furthermore, we provide a simple analytical model to predict and control the degree of bending of these actuators. The described analytical tool could be used to predict the actuating function of balloon actuators and thereby help generate optimal actuators for functions which require control over the extent and direction of actuation.

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