TY - GEN
T1 - Design and Mathematical Model for Bending Pneumatic Soft Actuators with Asymmetric Cavity
AU - Sun, Pihsaia S.
AU - Lu, Yuwen
AU - Mai, Jingeng
AU - Wang, Qining
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11
Y1 - 2020/11
N2 - Pneumatic bending soft actuators have been used in various innovative applications. However, there is a need for efficient design principles and methods that can improve the control accuracy of soft robots. In this paper, we present a mathematical model of soft bending actuators based on optimization and design a cylindrical soft actuator with asymmetric inner cavity that will perform bending motion upon pressurization. We introduce neutral plane as a reference layer with constant length instead of using a strain-limiting layer on the soft actuator. Preliminary experimental results verify the modelling approach and demonstrate the effectiveness of the proposed method.
AB - Pneumatic bending soft actuators have been used in various innovative applications. However, there is a need for efficient design principles and methods that can improve the control accuracy of soft robots. In this paper, we present a mathematical model of soft bending actuators based on optimization and design a cylindrical soft actuator with asymmetric inner cavity that will perform bending motion upon pressurization. We introduce neutral plane as a reference layer with constant length instead of using a strain-limiting layer on the soft actuator. Preliminary experimental results verify the modelling approach and demonstrate the effectiveness of the proposed method.
UR - https://www.scopus.com/pages/publications/85095585895
U2 - 10.1109/BioRob49111.2020.9224381
DO - 10.1109/BioRob49111.2020.9224381
M3 - 会议稿件
AN - SCOPUS:85095585895
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 346
EP - 351
BT - 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
PB - IEEE Computer Society
T2 - 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
Y2 - 29 November 2020 through 1 December 2020
ER -