Simulations of Two Patterns Fiber Weaves Reinforced in Rubber Actuator

Abstract

Over recent years, studies on soft mechanism are rapidly being paid to attention especially in pneumatic actuator field. Good actuator should be able to provide sufficient force and flexibility in movement, hence bending motion is vital criteria needed in soft robotic actuation. In this paper, a solution to soft bending pneumatic actuator is proposed in which several patterns fiber weave designs are introduced. The objectives of the simulations is to investigate which weave patterns combination of fiber reinforced actuator models yields the best bending characteristics and its relation to the contraction or extension characteristics shown by single weave pattern actuator models. From the results, when two patterns of fiber weave are attached together to form a sleeve, significant bending were obtained from most of the models simulated. Large bending resulted from combined two patterns fiber weave models are achieved when maximum contraction and extension characteristics exhibit by both fiber weave patterns.

Two-chambers soft actuator bending and rotational properties for underwater application

“…This technique introduced a method to use ready-made silicone tube and knitting fiber, then sealed them with caps at both ends of the actuator [19]. In bending characteristic operation, some investigators had proposed multiple chambers for bending in high degree of freedom [20], while others suggested new design and new braiding techniques such as Bellow structure [21][22][23] and combining different pattern fiber weave [24]. All the proposed methods and approaches have its advantages and limitation depending on the application needed.…”

Soft-amphibious robot using thin and soft McKibben actuator

“…Iwata et al [17] combined two or more actuators into one. Another technique that could be used is combining two different patterns of braided angle in a single soft actuator cylindrical body [18] using multiple chambers actuator [19], or designing asymmetrical shape of the actuator as bellow shape [20].…”

Grip Force Measurement of Soft- Actuated Finger Exoskeleton

“…Different approaches are extensively being studied for causing the bending motion to follow finger flexion motion. Whether they are pneumatic or hydraulic-based actuator, the actuators have been developed based on bellow structure [6], [7], integration of bellows structure with strain limiting layer [5], fiber braided reinforcement [8]- [11], and integration of fiber braided reinforcement with strain limiting layer [3]. Most of the actuators shows promising bending capability at safe operating pressure until 500 kPa for pneumatic driven [4], [5], [12] and until 345 kPa for hydraulic driven [13].…”