Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Actuator

Zhao, Wenchuan; Wang, Ning

doi:10.1155/2021/6623059

Cited by 9 publications

(4 citation statements)

References 43 publications

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“…It should be noted that during the motion of the robot, it must have good large deformation and hyperelastic characteristics under a certain stiffness and strength, and it also needs to withstand the repeated bending and torsional expansion effects caused by inflating and deflating, as well as adapt to complex and changing environments. After solidification, silicone rubber has good hydrophobicity, chemical inertness, safety, flexibility, extensibility, and the ability to withstand extreme temperatures, and it can be used as the main material for research and development of production, medical, and military-related types of equipment [44]. Due to the ease of mixing, stirring, and deflating, the curing of Ecoflex-0030 silicone rubber produced by Smooth-On company based on Dragon Skin technology is considered.…”

Section: Research On Simulation Of Robot Motion Performancementioning

confidence: 99%

Research and Implementation of Pneumatic Amphibious Soft Bionic Robot

Zhao,

Zhang,

Yang

et al. 2024

Machines

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To meet the requirements of amphibious exploration, ocean exploration, and military reconnaissance tasks, a pneumatic amphibious soft bionic robot was developed by taking advantage of the structural characteristics, motion forms, and propulsion mechanisms of the sea lion fore-flippers, inchworms, Carangidae tails, and dolphin tails. Using silicone rubber as the main material of the robot, combined with the driving mechanism of the pneumatic soft bionic actuator, and based on the theory of mechanism design, a systematic structural design of the pneumatic amphibious soft bionic robot was carried out from the aspects of flippers, tail, head–neck, and trunk. Then, a numerical simulation algorithm was used to analyze the main executing mechanisms and their coordinated motion performance of the soft bionic robot and to verify the rationality and feasibility of the robot structure design and motion forms. With the use of rapid prototyping technology to complete the construction of the robot prototype body, based on the motion amplitude, frequency, and phase of the bionic prototype, the main execution mechanisms of the robot were controlled through a pneumatic system to carry out experimental testing. The results show that the performance of the robot is consistent with the original design and numerical simulation predictions, and it can achieve certain maneuverability, flexibility, and environmental adaptability. The significance of this work is the development of a pneumatic soft bionic robot suitable for amphibious environments, which provides a new idea for the bionic design and application of pneumatic soft robots.

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Section: Research On Simulation Of Robot Motion Performancementioning

confidence: 99%

Research and Implementation of Pneumatic Amphibious Soft Bionic Robot

Zhao,

Zhang,

Yang

et al. 2024

Machines

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“…The common constitutive models of silica gel materials are the Mooney Rivlin model, Ogden model, Yeoh model, etc. [51][52][53][54][55][56] Among them, the Yeoh model has good adaptability in the range of 300% deformation, which is the choice for analyzing the deformation of silica gel.…”

Section: Establishment Of Kinematics Modelmentioning

confidence: 99%

Development and Performance Analysis of Pneumatic Soft‐Bodied Bionic Flipper

Zhao

Lim

et al. 2022

Adv Eng Mater

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The sea lion fore flipper has superior underwater movement performance. Its structural characteristics and propulsion mechanism are drawn, combined with the large deformation and hyperelastic properties of silicone, a pneumatic soft‐bodied bionic flipper with strong underwater mobility, good environmental adaptability, and flexible attitude transformation. Based on Yeoh's second‐order constitutive model of silicone, the nonlinear dynamic analysis of the main limb of the bionic flipper is carried out, and the deformation analysis theoretical model is established. Then, the force analysis of infinitesimal and integral of the wing fin of the bionic flipper is analyzed by the blade element theory, to obtain the theoretical model of underwater propulsion dynamic performance. The superiority of the hydrodynamic performance of the bionic flipper is analyzed and confirmed using the bidirectional fluid–structure coupling numerical simulation algorithm. An experimental test platform is built to test the physical model of the bionic flipper. The motion and dynamic characteristics curves of the bionic flipper are obtained and compared with the corresponding numerical simulation results. The results show that the theoretical model and numerical simulation are accurate, and the structure is feasible, which can provide methods and references for the research and implementation of the underwater propeller.

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“…Many other hyperelastic models are possible choices, such as Yeoh, neo-Hookian, Gent, Ogden, and Mooney-Rivlin ( He et al, 2018 ; Shiva et al, 2019 ; Zhang et al, 2019 ; Antonelli et al, 2020 ; Bacciocchi and Tarantino, 2021 ; Zhao et al, 2021 ). Although in general one may expect that these more complex material models should offer improved model accuracy, it has been shown recently that, at least for some robot designs, a linear stress-strain response may be more than adequate ( Shiva et al, 2019 ).…”

Section: Review Of the State Of The Artmentioning

confidence: 99%

On the Mathematical Modeling of Slender Biomedical Continuum Robots

Gilbert

2021

Front. Robot. AI

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The passive, mechanical adaptation of slender, deformable robots to their environment, whether the robot be made of hard materials or soft ones, makes them desirable as tools for medical procedures. Their reduced physical compliance can provide a form of embodied intelligence that allows the natural dynamics of interaction between the robot and its environment to guide the evolution of the combined robot-environment system. To design these systems, the problems of analysis, design optimization, control, and motion planning remain of great importance because, in general, the advantages afforded by increased mechanical compliance must be balanced against penalties such as slower dynamics, increased difficulty in the design of control systems, and greater kinematic uncertainty. The models that form the basis of these problems should be reasonably accurate yet not prohibitively expensive to formulate and solve. In this article, the state-of-the-art modeling techniques for continuum robots are reviewed and cast in a common language. Classical theories of mechanics are used to outline formal guidelines for the selection of appropriate degrees of freedom in models of continuum robots, both in terms of number and of quality, for geometrically nonlinear models built from the general family of one-dimensional rod models of continuum mechanics. Consideration is also given to the variety of actuators found in existing designs, the types of interaction that occur between continuum robots and their biomedical environments, the imposition of constraints on degrees of freedom, and to the numerical solution of the family of models under study. Finally, some open problems of modeling are discussed and future challenges are identified.

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Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Actuator

Cited by 9 publications

References 43 publications

Research and Implementation of Pneumatic Amphibious Soft Bionic Robot

Research and Implementation of Pneumatic Amphibious Soft Bionic Robot

Development and Performance Analysis of Pneumatic Soft‐Bodied Bionic Flipper

On the Mathematical Modeling of Slender Biomedical Continuum Robots

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