A New Spiral-Type Inflatable Pure Torsional Soft Actuator

Abstract

Soft robot has become a hot topic recently due to its distinct advantages over traditional rigid robots such as high deformability and good impact resistance. However, the coupled deflections of flexile materials bring challenges to soft robotic research in many aspects such as kinematic modeling, dynamic analysis, and control. Besides, unwanted deformations might enlarge external dimensions of soft robots, causing a reduction in the efficiency and bringing about unexpected or harmful contacts with surrounding environments that will significantly affect the robots' performance. In this study, we propose a new inflatable soft actuator driven by two spiral chambers twined with fibers for the first time. A key feature of this actuator is that it possesses a pure and high-efficient torsional motion with no bending and extension movements when works without load, which reduces the difficulties of theoretical analysis and control to some extent. Kinematic model is established by combining virtual work principle and elastic strain energy function for nonlinear flexible materials. The new soft torsional actuator module is carefully designed and fabricated, of which both the kinematic property and output torque are investigated experimentally. Results show that the module exhibits good linearity with air pressure ranging from 35 to 100 kPa, and can provide a torsion angle of up to 110° with an angular displacement accuracy of ±2° in empty loaded conditions; the maximum output torque reaches 0.026 N·m with the corresponding air pressure of 100 kPa. Finally, three soft robots are assembled by utilizing this new, inflatable, pure, soft torsional actuator, and successfully carry out different manipulating tasks. This work might provide some insights into the design of linear soft actuators without coupled deformations in future.

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“…[ 123 ] demonstrated a twisting actuator via additive manufacturing; Yan et al. [ 124 ] reported a soft torsional actuator with two spiral chambers that can generate torsional motion). The final type of SPA includes bending actuators, which are currently extensively used in the field of soft grippers.…”

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“…proposed another type of multi‐chamber actuator that consisted of two spiral chambers. [ 98 ] This actuator could have pure torsional motion with no obvious coupled deflections such as bending and extension movements when it was pressurized. As an alternative to multi‐chamber structure design, an actuator can be based on an asymmetrical axial cross section surrounding an inflatable void.…”

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