期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 31, 期 3, 页码 778-789出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2015.2428504
关键词
Bending; fiber reinforced; fluidic actuator; modeling; soft robot
类别
资金
- National Science Foundation [1317744, IIS-1226075]
- DARPA [W911NF-11-1-0094]
- Wyss Institute
- School of Engineering and Applied Sciences, Harvard University
- Direct For Computer & Info Scie & Enginr
- Div Of Information & Intelligent Systems [1317744] Funding Source: National Science Foundation
Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because they are affordable and can be easily customized to a given application. However, the significant potential of such actuators is currently limited as their design has typically been based on intuition. In this paper, the principle of operation of these actuators is comprehensively analyzed and described through experimentally validated quasi-static analytical and finite-element method models for bending in free space and force generation when in contact with an object. This study provides a set of systematic design rules to help the robotics community create soft actuators by understanding how these vary their outputs as a function of input pressure for a number of geometrical parameters. Additionally, the proposed analytical model is implemented in a controller demonstrating its ability to convert pressure information to bending angle in real time. Such an understanding of soft multimaterial actuators will allow future design concepts to be rapidly iterated and their performance predicted, thus enabling new and innovative applications that producemore complex motions to be explored.
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