执行机构
弯曲
气动执行机构
软机器人
有限元法
弹道
机械工程
机器人学
控制理论(社会学)
工程类
材料科学
结构工程
声学
机器人
计算机科学
物理
人工智能
电气工程
控制(管理)
天文
作者
Wei-Wen Hu,Gürsel Alıcı
出处
期刊:Soft robotics
[Mary Ann Liebert]
日期:2020-06-01
卷期号:7 (3): 267-282
被引量:79
标识
DOI:10.1089/soro.2019.0015
摘要
Soft pneumatic actuators (SPAs) are widely studied and applied in the field of soft robotics. To expand their applications, the SPAs should be purpose-built to generate application-specific complex motions with multiple degrees of freedom. This article describes a new SPA consisting of a series of internal chambers with the same helix angle arranged in a row, which could generate bending and twisting motions simultaneously. The trajectory of the helical actuator was analyzed through the finite element method (FEM) by changing the angle of the chambers and the actuator length. We employed a three-dimensional printing method to directly fabricate the thin-walled and airtight helical actuators without applying any postfabrication process. The recorded trajectory of the actuator and the measured blocking force on the tipping point were compared with the corresponding simulation results from the FEM. The actuation behavior of the helical actuator has been compared with that of the actuator with zero chamber angle, but with the same size (i.e., a normal bending actuator generating a two-dimensional trajectory). It is found that the proposed helical actuator (with a maximum 2.10 N blocking force) had a higher mechanical output (or efficiency) than the normal bending actuator (with a maximum 1.19 N blocking force) under the same pressure input. We fabricated a soft helical actuator as the fingers of a four-finger gripper to grasp complex-shaped items. Furthermore, another four-finger gripper made of a hybrid actuator consisting of a half of the angled chambers and a half of the nonangled chambers was constructed to demonstrate that the proposed design and fabrication technique could be employed to establish application- and function-specific soft robotic systems.
科研通智能强力驱动
Strongly Powered by AbleSci AI