Paper Info
Title
Design And Application Of Integrated Parabolic Soft Actuator
Abstract
Purpose The purpose of this paper is to solve the common problems of outer phenomenon and stress concentration among pneumatic networks soft actuators. Design/methodology/approach On the basis of imitating the caterpillar structure, the new soft actuator adopts the integral circular ladder structure instead of the traditional independent distributed structure as the air chamber. Through the comparison of several different structures, the parabolic in-wall curve is found to be fit for designing the optimal integrated chamber structure of the soft actuator. The curve function of each ladder chamber is computed based on the torque distribution model, aiming to decrease the terminal deformation. Meanwhile, the FEM analysis method is applied to establish the motion model of the integrated parabolic ladder soft actuator. The model's accuracy, as well as structure's deformation and stress, are verified. Findings Compared with the FEM data, the experimental data indicate that the new soft actuator has no obvious outer phenomenon, the maximum stress decreases and the stiffness increases. The new actuator is applied for designing a flexible gripper to grasp objects of different shapes and sizes. The gripper can grasp objects of 52.6 times its own mass. Practical implications - The designed gripper is available for flexible production in various fields, such as capturing fruits of different sizes, soft foods or parts with complex shapes. Originality/value This paper proposes a new type soft actuator, which provides a solution for exploring the field of the soft robot. The problems of outer phenomenon and stress concentration are suppressed with pneumatic networks soft actuators.
Year
DOI
Venue
2019
10.1108/IR-03-2019-0062
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
Keywords
Field
DocType
Soft material robotics, Grippers, Actuator, Grasping, Biologically inspired robots
Data mining,Computer science,Mechanical engineering,Soft actuator,Grippers,Parabola,Actuator
Journal
Volume
Issue
ISSN
46
6
0143-991X
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Dong Liu1207.71
Minghao Wang201.69
Ming Cong32816.39