4.6 Article

Design of multi-material soft pneumatic modules

期刊

SMART MATERIALS AND STRUCTURES
卷 30, 期 9, 页码 -

出版社

IOP Publishing Ltd
DOI: 10.1088/1361-665X/ac159f

关键词

soft pneumatic actuator; modularized actuator; multi-material module; topology optimization; soft gripper

资金

  1. Natural Science Foundation of China [11872140]
  2. National Science Fund for Distinguished Young Scholars [11425207]
  3. Key Project of National Science Foundation of China [U1508209]
  4. Fundamental Research Funds for the Central Universities [DUT19RC(3)072]
  5. Liaoning Revitalization Talents Program [XLYC2007027]

向作者/读者索取更多资源

This study creates multi-material soft modules using topology optimization method to design two types of modules, enabling target bending curvatures and maximal twisting capability. By assembling these modules, various actuation modes can be achieved, including a soft gripper for complex grasping tasks. Both numerical and experimental results verify the performance of the multi-material soft modules and modularized SPAs.
Modularized soft pneumatic actuators (SPAs) can flexibly achieve various actuation modes by using a series of modules. However, existing modules are generally composed of single materials, and may perform limited actuation modes. To achieve an enlarged space for desirable and manually-tunable actuation modes, this study creates multi-material soft modules. To incorporate highly nonlinear responses of the soft modular bodies into the design process, a topology optimization method is firstly developed to generate feasible modular configurations by determining the best distribution of the two materials, and then the parameterized models are built, which are inspired by the optimized solutions. Two types of modules are designed. One type acquires target bending curvatures by distributing the two materials in a top-bottom asymmetric form, and the other type attains the maximal twisting capability by embedding helical hard material into the soft base. Furthermore, various modularized SPAs are made by assembling the designed modules in different sequence, and they are able to achieve a variety of actuation modes. By using one of the modularized SPA, a soft gripper is designed to accomplish a complex grasping task. The real samples of the designed modules and SPAs are made by using a multi-step casting approach. Both numerical and experiment results verify the performance of the multi-material soft modules, the modularized SPAs and the soft gripper.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.6
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据