Research and application of a multi-degree-of-freedom soft actuator | |
Zhu YL(朱银龙)1,2; Chu KM(褚凯梅)1; Chen X(陈昕)1; Wang X(王旭)1; Su HJ(苏海军)33 | |
刊名 | Sensors and Actuators A: Physical |
2022 | |
卷号 | 338页码:1-13 |
关键词 | Soft robot Crawling robot Soft pneumatic actuator Multi-degree-of-freedom |
ISSN号 | 0924-4247 |
产权排序 | 1 |
英文摘要 | In recent years, soft pneumatic actuators with soft and flexible materials have been widely studied in the field of soft gripper and soft bionic robot. Up to present, the soft actuators studied usually have one motion manner such as extending, bending, twisting or rotation. In this paper, we propose a new type of multi-degree-of-freedom soft pneumatic actuator (MDoF SPA) that can extend or rotate in response to pressured air inputted in different chambers. A fabrication method was proposed. A mathematical model based on large deformation theory was presented to predict the elongation displacement and bending angle. Moreover, finite element analysis and experimental investigation were performed to verify the theoretical results. The output force during elongation and blocking force during bending were also tested. Finally, two MDoF SPAs were utilized to fabricate a crawling robot. The gait and hardware of crawling robot were shown. The average moving speed of linear motion, maximum bending angle were investigated as well. Experiments revealed the robot actuated by MDoF SPAs has a good comprehensive performance, which has great potential in search, detection, rescue and other operations in a narrow environment. This work can guide the design and application of MDoF SPAs in the future. |
语种 | 英语 |
WOS记录号 | WOS:000790572300007 |
资助机构 | Natural Science Research Projects in Jiangsu Universities (18KJA4600050 and 21KJB460010) ; High Level Talent Project of |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/30744] |
专题 | 海洋机器人卓越创新中心 |
通讯作者 | Wang X(王旭) |
作者单位 | 1.Nanjing Forestry University, College of Mechanical and Electronic Engineering, Nanjing 210037, China 2.State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110169, China 3.Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH 43210, United States |
推荐引用方式 GB/T 7714 | Zhu YL,Chu KM,Chen X,et al. Research and application of a multi-degree-of-freedom soft actuator[J]. Sensors and Actuators A: Physical,2022,338:1-13. |
APA | Zhu YL,Chu KM,Chen X,Wang X,&Su HJ.(2022).Research and application of a multi-degree-of-freedom soft actuator.Sensors and Actuators A: Physical,338,1-13. |
MLA | Zhu YL,et al."Research and application of a multi-degree-of-freedom soft actuator".Sensors and Actuators A: Physical 338(2022):1-13. |
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