Bend Angle and Contact Force on Soft Pneumatic Gripper for Grasping Cylindrical-Shaped Different-Sized Objects

Vellaiyan, Venkatesan; Subramaniam, Shanmugam; Arunachalam, Veerappan

doi:10.2316/j.2021.206-0622

Cited by 3 publications

(10 citation statements)

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“…Many design characteristics are needed to develop a soft robotic device that can be used to grasp soft materials without damage. The material specifications are used in this study taken from a previous published research paper (Venkatesan et al, 2021a(Venkatesan et al, , 2021b. Table 1 is a summary of the specifications of soft material.…”

Section: Model Designmentioning

confidence: 99%

“…The results of FEM analysis are observed in the form of actuator displacement coordinate values. Bending angle u was calculated based on the displacement values with the help of the angle between two nonzero vectors as given in (1) (Venkatesan et al, 2021a(Venkatesan et al, , 2021b.…”

Section: Bend Anglementioning

confidence: 99%

“…Many researchers find it difficult to model and anticipate their behavior due to the discontinuity of design structures and materials nonlinearity (Huang et al, 2018;Shi et al, 2022;Verma Atul, 2018;Zolfagharian et al, 2020). For example, Venkatesan et al (2021aVenkatesan et al ( , 2021b and Wang et al (2021) used a finite element method to analyze, model and optimize the design of SPA. In addition, the finite element method could be used to analyze the bending behavior of soft actuators.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, the finite element method could be used to analyze the bending behavior of soft actuators. In another article (Venkatesan et al, 2021a(Venkatesan et al, , 2021b, they discussed the bend angle prediction of a soft actuator with the external grasping of an object. They compared finite element method (FEM) results with experimental results.…”

Section: Introductionmentioning

confidence: 99%

“…Although SPAs are widely recognized for their scalability, adaptability and diversity comprehensive methods have not yet been used in the design, modeling and fabrication of soft actuators. Only limited published literature exists in relation to SPAs regarding the significant details of modeling and simulation of the structural design of a soft actuator (Alici et al, 2018;Venkatesan et al, 2021aVenkatesan et al, , 2021bFelt, 2019;Krishnapriya et al, 2019;Liu et al, 2019). They were analyzed using the basic structure of rectangular sections, folded-tube soft actuators, microcoil based electromagnetic soft actuators, parabolic type soft actuators and elephant trunk shaped soft actuators.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Structural analysis of bending soft pneumatic network actuators for various designs using the finite element method

Venkatesan

Shanmugam

A.R.

2022

WJE

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Purpose This paper aims to present the numerical analysis of displacements, forces and bend angles of three different structural designs of a soft actuator using the finite element method. The results of this analysis help understand the physical behavior of the soft pneumatic actuator. Design/methodology/approach The soft actuator is designed using commercial modeling software, and the design of the actuator is analyzed using ABAQUS 19.0 with a standard implicit nonlinear analysis. There are three types of structural designs for actuators, namely, rectangular-base model, trapezoidal-base model and the trapezoidal model considered in the present study. Findings Maximum displacement, force and bend angle are observed in the rectangular-base model at various pressure levels. Originality/value The development of novel designs of the soft pneumatic actuator to undertake a comparative analysis of displacement, force and bend angle.

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Section: Model Designmentioning

confidence: 99%

Section: Bend Anglementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Structural analysis of bending soft pneumatic network actuators for various designs using the finite element method

Venkatesan

Shanmugam

A.R.

2022

WJE

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Structural optimization and parameter investigation of trapezoidal shape soft pneumatic actuator

Vellaiyan,

Bijalwan

et al. 2024

Eng. Res. Express

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This study investigates the effects of actuator design parameters on the performance of developed trapezoidal shaped soft pneumatic actuator, optimizes its geometric structure using the finite element method and validates its performance experimentally. To optimize the soft pneumatic actuator, the effects of structural parameters such as wall thickness, gap between the adjacent chambers, passive layer thickness, width of inside chamber and the bending angle of the actuator were evaluated. Finite Element Analysis is used to determine the displacement variation of actuator with different levels of applied pressures. A Global Analysis of Variance was conducted to determine the influence of variables affecting the displacements of soft pneumatic actuator was determined. The ANOVA results, a geometric actuator with a wall thickness of 1.5 mm, gap between chambers of 4 mm, passive layer thickness of 2 mm and the width of inside chamber of 4 mm is recommended for the actuator to be achieve maximum bending angle. The proposed actuator model can be used to select the suitable actuator for grasping soft objects without deformation. In addition, experiment was conducted to correlate the results with finite element analysis data.

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Structural optimization and parameter investigation of trapezoidal shape soft pneumatic actuator

Vellaiyan,

Venkateshkumar,

Bijalwan

et al. 2024

Preprint

Self Cite

View full text Add to dashboard Cite

This study investigates the effects of actuator design parameters on the performance of developed trapezoidal shaped soft pneumatic actuator, optimizes its geometric structure using the finite element method and validates its performance experimentally. To optimize the soft pneumatic actuator, the effects of structural parameters such as wall thickness, gap between the adjacent chambers, passive layer thickness, width of inside chamber and the bending angle of the actuator were evaluated. Finite Element Analysis is used to determine the displacement variation of actuator with different levels of applied pressures. A Global Analysis of Variance was conducted to determine the influence of variables affecting the displacements of soft pneumatic actuator was determined. The ANOVA results, a geometric actuator with a wall thickness of 1.5 mm, gap between chambers of 4 mm, passive layer thickness of 2 mm and the width of inside chamber of 4 mm is recommended for the actuator to be achieve maximum bend angle. The proposed actuator model can be used to select the suitable actuator for grasping soft objects without deformation. In addition, experiment was conducted to correlate the results with finite element analysis data.

show abstract

Bend Angle and Contact Force on Soft Pneumatic Gripper for Grasping Cylindrical-Shaped Different-Sized Objects

Cited by 3 publications

References 0 publications

Structural analysis of bending soft pneumatic network actuators for various designs using the finite element method

Structural analysis of bending soft pneumatic network actuators for various designs using the finite element method

Structural optimization and parameter investigation of trapezoidal shape soft pneumatic actuator

Structural optimization and parameter investigation of trapezoidal shape soft pneumatic actuator

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