The Design and Analysis of Pneumatic Rubber Actuator of Soft Robotic Fish

Zhang, Jinhua; Tang, Jiaqing; Hong, Jun; Lu, Tongqing; Wang, Hao

doi:10.1007/978-3-319-13966-1_32

Cited by 8 publications

(8 citation statements)

References 5 publications

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“…A key parameter is the used hyperelastic material model for describing the rubber-like material, because low order material models can only accurately describe material properties at low strains [19,31]. The accuracy of the model is typically improved when material parameters are first experimentally measured [51] either uniaxially [19,24,35,52,53] or biaxially [50]. Further, few dynamic FEM models are reported in literature [52,54], and in general complex soft robots topologies remain challenging to model.…”

Section: Finite Element Methodsmentioning

confidence: 99%

“…-Additive manufacturing is used for relatively large moulds [78] and can be used to create corrugated actuators [19,79] as well as designs combining eccentric void and material asymmetry [53,63,80]. The asymmetry of these actuators was further engineered by incorporating polyaramid fibres [81,82], paper [23], textile [83][84][85], ABS plastic [86,87] and a woven sheet of PET [88] in the design.…”

Section: D Moulding (Fig 4 C)mentioning

confidence: 99%

“…Aswath et al [95] (2014) used two bending actuators protruding from a fish body, to mimic pectoral fins. Zhang et al [53] and Marchese et al [76,77] (2014) designed a caudal fin actuated by 2 DOF bending EIAs. The latter integrated this fin actuator in an untethered fish robot with a length of 339 mm, reaching swimming speeds of 150 mm/s, while having full control of speed, yaw and pitch.…”

Section: Biomimeticsmentioning

confidence: 99%

“…2D surface + 2D fibres ND ND [8,9] 2D shell + 3D solid ND ND [12] 3D solid MSC 2 nd order Ogden [79] Neo-Hookean [31] Mooney-Rivlin [23] Abaqus Yeoh [19,53,72] , , Figures Fig. 1 Classification of elastic inflatable actuators based on their overall deformation.…”

Section: Element Type Software Materials Model Ref Illustrationmentioning

confidence: 99%

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Elastic Inflatable Actuators for Soft Robotic Applications

et al. 2017

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The 20th century's robotic systems have been made from stiff materials, and much of the developments have pursued ever more accurate and dynamic robots, which thrive in industrial automation, and will probably continue to do so for decades to come. However, the 21st century's robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfill the role of robotic link and actuator, where prime focus is on design and fabrication of robotic hardware instead of software control. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics, and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators. This article reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies, and on the other hand by a market pull from applications. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication, and applications.

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Section: Finite Element Methodsmentioning

confidence: 99%

Section: D Moulding (Fig 4 C)mentioning

confidence: 99%

Section: Biomimeticsmentioning

confidence: 99%

Section: Element Type Software Materials Model Ref Illustrationmentioning

confidence: 99%

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Elastic Inflatable Actuators for Soft Robotic Applications

et al. 2017

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“…Ecoflex rubbers are platinum-catalyzed silicones that are soft, strong and "stretchy" [22]. Compared to Ecoflex, PDMS is hard and brittle as shown in Figure 4 [23]. [7,[14][15][16][17].…”

Section: Elastomers 234mentioning

confidence: 99%

Dielectric Elastomer Sensors

Ni¹,

Zhang²

2017

Elastomers

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Dielectric elastomers (DEs) represent a class of electroactive polymers (EAPs) that exhibit a significant electromechanical effect, which has made them very attractive over the last several decades for use as soft actuators, sensors and generators. Based on the principle of a plane-parallel capacitor, dielectric elastomer sensors consist of a flexible and stretchable dielectric polymer sandwiched between two compliant electrodes. With the development of elastic polymers and stretchable conductors, flexible and sensitive dielectric elastomer tactile sensors, similar to human skin, have been used for measuring mechanical deformations, such as pressure, strain, shear and torsion. For high sensitivity and fast response, air gaps and microstructural dielectric layers are employed in pressure sensors or multiaxial force sensors. Multimodal dielectric elastomer sensors have been reported that can detect mechanical deformation but can also sense temperature, humidity, as well as chemical and biological stimulation in human-activity monitoring and personal healthcare. Hence, dielectric elastomer sensors have great potential for applications in soft robotics, wearable devices, medical diagnostic and structural health monitoring, because of their large deformation, low cost, ease of fabrication and ease of integration into monitored structures.

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Contrast Agent Incorporation into Silicone Enables Real‐Time Flow‐Structure Analysis of Mammalian Vein‐Inspired Soft Pumps

Loepfe

Schumacher

Burri

et al. 2015

Adv Funct Materials

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The construction of machines consisting essentially of soft parts is a nascent and multidisciplinary research field between material science, machine engineering, and robotics. Soft silicones represent a promising class of materials for the creation of a vast multitude of biologically inspired entities. In the present work, a new type of mammalian vein‐inspired soft silicone pump is introduced and characterized, which is fabricated by virtual lost‐wax casting of 3D‐printed injection molds. These pumps can be actuated pneumatically or by internal gas combustion and preserve their functionality even after a freezing/unfreezing cycle. The possibility of using medical examination methods such as ultrasonic imaging to directly access flow information inside soft pumps is shown. Based on soda lime glass microspheres, a method is demonstrated to enhance contrast properties during such color online Doppler imaging for a detailed understanding of the inner fluid‐structure interactions.

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The Design and Analysis of Pneumatic Rubber Actuator of Soft Robotic Fish

Cited by 8 publications

References 5 publications

Elastic Inflatable Actuators for Soft Robotic Applications

Elastic Inflatable Actuators for Soft Robotic Applications

Dielectric Elastomer Sensors

Contrast Agent Incorporation into Silicone Enables Real‐Time Flow‐Structure Analysis of Mammalian Vein‐Inspired Soft Pumps

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