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High-force soft pneumatic actuators based on novel casting method for robotic applications
Sensors and Actuators A: Physical ( IF 4.6 ) Pub Date : 2020-03-30 , DOI: 10.1016/j.sna.2020.111957
Haili Li , Jiantao Yao , Pan Zhou , Xinbo Chen , Yundou Xu , Yongsheng Zhao

Soft pneumatic actuators (SPAs) play an important role in leading the development of soft robotics, and enable diverse and complex hardware design for soft robots. However, due to the limitation of the inherent characteristics of SPAs’ constitutive materials as well as fabrication tools and techniques, they tend to exhibit a lower driving force. In this paper, we propose a class of high-force SPAs that are fabricated by a novel method, embedded core casting. This method is enabled by two main steps: First, a SPA is designed in two parts, an actuating core composed of a fiber-reinforced airbag and an elastic holder made of soft materials, and they are fabricated independently; second, both parts are combined together by assembly and recasting techniques, producing a finished actuator. The bending SPAs fabricated by this method can bear air pressure up to 400 kPa, which provides important hardware for the development of high-load soft robots. Further, we demonstrate the applications of these soft SPAs in soft grippers, continuum manipulators, and soft wearable robots. This study helps improve the fabrication process for fiber-reinforced actuators and propose new high-force SPAs for robotic applications.



中文翻译:

基于新型铸造方法的高力软气动执行器,用于机器人应用

软气动执行器(SPA)在领导软机器人技术的发展中起着重要作用,并为软机器人实现了多种多样且复杂的硬件设计。但是,由于SPA的组成材料的固有特性以及制造工具和技术的局限性,它们倾向于表现出较低的驱动力。在本文中,我们提出了一类通过新型方法嵌入式芯铸造制造的高强度SPA。此方法可通过两个主要步骤实现:首先,将SPA设计为两个部分,一个由纤维增强的安全气囊组成的致动芯和一个由软材料制成的弹性支架,然后分别制造。其次,通过组装和重铸技术将两个零件组合在一起,从而制造出最终的执行器。通过这种方法制造的弯曲SPA可以承受高达400 kPa的气压,这为开发高负载软机器人提供了重要的硬件。此外,我们演示了这些软SPA在软机械手,连续操纵器和可穿戴机器人中的应用。这项研究有助于改善纤维增强执行器的制造工艺,并提出用于机器人应用的新型高强度SPA。

更新日期:2020-03-30
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