Modeling and Analysis of Oblique-Chamber and Symmetric Oblique-Chamber Pneu-Net Soft Actuators

Liu, Tong; Wang, Xiaojie

doi:10.1109/lra.2024.3451392

IEEE Robot. Autom. Lett.

2024

DOI: 10.1109/lra.2024.3451392

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Modeling and Analysis of Oblique-Chamber and Symmetric Oblique-Chamber Pneu-Net Soft Actuators

Tong Liu,

Xiaojie Wang

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2024

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Mechanical Design, Manufacturing, and Testing of a Soft Pneumatic Actuator with a Reconfigurable Modular Reinforcement

Antonelli,

Beomonte Zobel,

Mattei

et al. 2024

Robotics

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Soft actuators have enabled the growth of soft robotics, overcoming several drawbacks of rigid robotics by providing devices with many degrees of freedom and the ability to grasp, bend, move, jump, and more. The reconfiguration of the workspace is still a limitation of these actuators. Indeed, once the actuator is designed and developed, it is used for a specific task. This work presents a reconfigurable soft pneumatic actuator with a novel reconfigurable modular reinforcement. The latter is wrapped around an inner tube in silicone rubber and is made of components whose assembly can be configured based on the task. A formulation is identified by a hybrid approach based on finite element analysis and response surface methodology for predicting and designing the behavior of the actuator. The prototyping revealed the ease of fabrication and reconfigurability as the strength of this new actuator. The experimental tests demonstrated the feasibility of adopting the actuator as a finger in a gripper for handling and moving objects of different shapes, masses, and stiffness. Furthermore, the evaluated performance shows a good trade-off between mass, developed force, implementation time, easy reconfigurability, and cost-effectiveness.

show abstract

Mechanical Design, Manufacturing, and Testing of a Soft Pneumatic Actuator with a Reconfigurable Modular Reinforcement

Antonelli,

Beomonte Zobel,

Mattei

et al. 2024

Robotics

View full text Add to dashboard Cite

show abstract

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Modeling and Analysis of Oblique-Chamber and Symmetric Oblique-Chamber Pneu-Net Soft Actuators

Cited by 1 publication

References 17 publications

Mechanical Design, Manufacturing, and Testing of a Soft Pneumatic Actuator with a Reconfigurable Modular Reinforcement

Mechanical Design, Manufacturing, and Testing of a Soft Pneumatic Actuator with a Reconfigurable Modular Reinforcement

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