Analysis of bending ability of soft pneu-nets actuators for soft robotics

doi:10.2174/1872212114666200101101201

IR > 机电工程学院

	Analysis of bending ability of soft pneu-nets actuators for soft robotics
	Wang, Yazhou
	2020
发表期刊	Recent Patents on Engineering
ISSN	18722121
卷号	14 期号:4 页码:636-642
摘要	Background: There has been an increasing interest in the soft pneumatic networks (also referred to as pneu-nets) actuators for soft robotics due to their innate softness, ease of fabrication and high customizability. More and more structures of the soft pneu-nets actuators are reported in various relevant patents and papers. The bending ability of soft pneu-nets actuator is one of the key characterizing performances. It is characterized as a function of input air pressure as well as geomet-rical and material parameters, and influenced by the air pressures and design angle. Objective: In this paper, a new structure soft pneu-nets actuators (with different chambers morphol-ogy) was developed. The goal of this paper is to analyze the influence of the air pressures and design angle on the bending ability of the soft pneu-nets actuators with a new structure. Method: Firstly, a new structure of soft pneu-nets (adjusting chamber’s shape), based on the soft pneu-nets architecture described previously was developed. Then, the soft pneu-nets actuators were treated with a standard Finite Element Method (FEM) using the Abaqus 6.14 Computer-Aided Engineering (CAE) package. Several soft pneu-nets actuators with various design angles were ana-lyzed to investigate the influence of the design angle on the bending ability. In order to investigate the effect of these parameters, the relationship between the angle of bending and these parameters was conducted. Thirdly, the influence of chambers morphology on the bending ability of soft pneu-nets actuators could be assessed. Results: When the air pressure P is under 13.5 kPa, with increase the air pressure, the difference of angle of bending under same design angle is less evident, but when the air pressure P is over 13.5 kPa, the difference of angle of bending at same design angle increase; At the same air pressure P, when the air pressure P is under 13.5 kPa, the difference of the angle of the bending between different design angle is less, The effect of gravity is greater than that of the air pressures P. When the air pressure P is over 13.5 kPa, the design angle shows more influential on the angle of the bending. Conclusion: The angle of bending increases with the increase of the air pressures P; the chambers with a bigger design angle (thinner inside walls) enabled greater bending at given air pressures P. © 2020 Bentham Science Publishers.
关键词	ABAQUS Atmospheric pressure Computer aided engineering RoboticsAir pressures Customizability Material parameter S shape Soft robotics Standard finite element
DOI	10.2174/1872212114666200101101201
收录类别	EI
语种	英语
出版者	Bentham Science Publishers
EI入藏号	20204909578834
EI主题词	Pneumatic actuators
EI分类号	443.1 Atmospheric Properties - 723.5 Computer Applications - 731.5 Robotics - 732.1 Control Equipment
来源库	Compendex
分类代码	443.1 Atmospheric Properties - 723.5 Computer Applications - 731.5 Robotics - 732.1 Control Equipment
引用统计	无
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/132377
专题	机电工程学院
作者单位	Department of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou, China
第一作者单位	兰州理工大学
第一作者的第一单位	兰州理工大学
推荐引用方式 GB/T 7714	Wang, Yazhou. Analysis of bending ability of soft pneu-nets actuators for soft robotics[J]. Recent Patents on Engineering,2020,14(4):636-642.
APA	Wang, Yazhou.(2020).Analysis of bending ability of soft pneu-nets actuators for soft robotics.Recent Patents on Engineering,14(4),636-642.
MLA	Wang, Yazhou."Analysis of bending ability of soft pneu-nets actuators for soft robotics".Recent Patents on Engineering 14.4(2020):636-642.