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Design Methodology for a Novel Bending Pneumatic Soft Actuator for Kinematically Mirroring the Shape of Objects
- Source :
- Actuators, Volume 9, Issue 4, Actuators, Vol 9, Iss 113, p 113 (2020)
- Publication Year :
- 2020
- Publisher :
- Multidisciplinary Digital Publishing Institute, 2020.
-
Abstract
- In the landscape of Industry 4.0, advanced robotics awaits a growing use of bioinspired adaptive and flexible robots. Collaborative robotics meets this demand. Due to human&ndash<br />robot coexistence and interaction, the safety, the first requirement to be satisfied, also depends on the end effectors. End effectors made of soft actuators satisfy this requirement. A novel pneumatic bending soft actuator with high compliance, low cost, high versatility and easy production is here proposed. Conceived to be used as a finger of a collaborative robot, it is made of a hyper-elastic inner tube wrapped in a gauze. The bending is controlled by cuts in the gauze: the length and the angular extension of them, the pressure value and the dimensions of the inner tube determine the bending amplitude and avoid axial elongation. A design methodology, oriented to kinematically mirror the shape of the object to be grasped, was defined. Firstly, it consists of the development of a non-linear parametric numerical model of a bioinspired finger<br />then, the construction of a prototype for the experimental validation of the numerical model was performed. Hence, a campaign of simulations led to the definition of a qualitatively predictive formula, the basis for the design methodology. The effectiveness of the latter was evaluated for a real case: an actuator for the grasping of a light bulb was designed and experimentally tested.
- Subjects :
- Control and Optimization
Bending (metalworking)
Computer science
collaborative robotics
Mechanical engineering
law.invention
law
experimental validation
lcsh:TK1001-1841
design methodology
lcsh:TA401-492
bioinspired robotic finger
Tube (container)
Parametric statistics
finite element model
pneumatic soft actuator
Hardware_MEMORYSTRUCTURES
business.industry
Robotics
Robot end effector
Finite element method
lcsh:Production of electric energy or power. Powerplants. Central stations
Control and Systems Engineering
Robot
lcsh:Materials of engineering and construction. Mechanics of materials
Artificial intelligence
Actuator
business
Subjects
Details
- Language :
- English
- ISSN :
- 20760825
- Database :
- OpenAIRE
- Journal :
- Actuators
- Accession number :
- edsair.doi.dedup.....7138afd64bd0667e17eb7f2eceeaa089
- Full Text :
- https://doi.org/10.3390/act9040113