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Design and Analysis of Pneumatic Bending Actuator Used in Soft Robotics

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Abstract:

Pneumatic soft actuators can change their shapes under pneumatic pressure actuation and are capable of continuous bending. However, the air chambers inside will expand during the actuation process and cause nonlinear problems. Therefore pneumatic actuators are difficulties to model. In this paper, three types of bending actuators with different air chamber shapes are designed and the finite element model (FEM) is developed to simulate the deformation under different air pressure actuation. A prototype of the bending actuator is fabricated and a method to limit the expansion of the air chamber is designed based on the FEM results, which can effectively improve the expansion and the response of the actuator under low air pressure conditions through experimental comparison.

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Periodical:

Advances in Science and Technology (Volume 105)

Pages:

194-201

DOI:

https://doi.org/10.4028/www.scientific.net/AST.105.194

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Online since:

April 2021

Authors:

Xu Dong Wang, Heng Wei Chen, Liao Wang, Wen Zhou, Yi Qing Li*

Keywords:

Finite Element Analysis, Pneumatic Bending Actuator, Soft Robotics

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© 2021 Trans Tech Publications Ltd. All Rights Reserved

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