Effect of Geometrical Shape on Axial Deformation of Soft Actuator
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Abstract Soft actuators are the latest trend of research because of their light weight and ease of manufacturing and control. Soft actuators have expanded their fields and taken place in many applications where linear or angular deflection is required. Soft actuators are very useful in the applications where deflection is required with soft touch. Soft Actuators are highly compliant and adaptive to unknown environments. Because of these characteristics, soft actuators are very popular in the field of medical and in the applications where interaction with fragile structure is required. The soft actuators can give required responses mostly depends on their shape. Linear or angular deformation can be achieved by changing the geometrical shape of actuators. This paper presents the effect of geometrical shape on axial deformation of soft pneumatic actuator. Samples of soft actuators are selected with various shapes for finite element analysis. Results are obtained in form of axial and lateral deformation. An attempt is made to achieve good amount of axial deformation with very less or negligible lateral deformation by selecting appropriate shape. Based on the generated results, the shape is identified which gives desired results and more suitable among the selected nine samples. This sample can be useful in the application having space constraint in lateral direction.Keywords:
Pneumatic actuator
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A new actuator that consists of a layered piezoelectric element and a magnifying mechanism is designed for a next-generation spinstand system by using finite element method (FEM). The simulation based on FEM is developed with effective elastic mechanism for the fine micro-actuator. The experimental actuator was made and tested to compare with the simulation data.
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The purpose of our study is to develop a flexible and lightweight actuator which can be safe enough to be attached to the human body, and to apply it to a flexible mechanism and rehabilitation device. New types of flexible pneumatic actuator that can be used even if the actuator is deformed by external force have been developed in our previous studies. In this paper, we propose and test a flexible spherical actuator using the novel flexible pneumatic cylinders. The simple spherical actuator consists of two ring-shaped flexible pneumatic cylinders. They are intersected at right angle and are fixed on the base. The control system using the tested quasi-servo valves and a micro-computer was also developed. In addition, the spherical actuator was improved so as to suppress the vibration in control and to increase the stiffness of the actuator by changing the structure of the actuator. As a result, the large moving area of the actuator could be obtained using the tested spherical actuator with a simple structure. The control performance could be improved using the improved spherical actuator.
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Current research statuses of several typical flexible pneumatic actuators were reviewed,such as McKibben PMA(pneumatic muscle actuator),3-DOF FMA(flexible microactuator),pneumatic rotary soft actuator,flexible fluidic actuator and FPA(flexible pneumatic actuator).The five flexible pneumatic actuators were profoundly discussed and their virtues and disadvantages were pointed out.Several flexible pneumatic dexterous hands based on the flexible pneumatic actuators were described and their characteristics were summarized.Taking account of these flexible pneumatic dexterous hands,the key problems need to be resolved in this area were concluded.
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A pneumatic actuator using welded metal bellows is designed. Since this actuator has no sliding parts, there is no influence of friction forces. The actuator is expected to have good performance in positioning control and generating exact desired forces. In order to use the bellows actuator as a force sensor (bellows sensor), the static and dynamic characteristics of the bellows actuator are investigated. From these experimental results, the capability of the bellow sensor becomes clear. The bellows actuator is used as a sensing actuator and a pneumatic gripper. The effectiveness of the actuator is demonstrated through experiments. The efficiency of the developed gripper is indicated by means of insertion experiments.< >
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Pneumatic actuator
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The purpose of our study is to develop a flexible and lightweight actuator which can be safe enough to be attached to the human body, and to apply it to a flexible mechanism and rehabilitation device. New types of flexible pneumatic actuator that can be used even if the actuator is deformed by external force have been developed in our previous studies. In this paper, a flexible spherical actuator using the novel flexible pneumatic cylinders is proposed and tested. The simple-structured spherical actuator consists of two ring-shaped flexible pneumatic cylinders. They are intersected at right angle and are fixed on the base. The control system using the quasi-servo valves developed in our previous study and a micro-computer is also developed. In addition, the spherical actuator is improved so as to suppress the vibration in control and to increase the stiffness of the actuator by changing the structure of the actuator. As a result, a large working area of the actuator could be obtained using the tested simple-structured spherical actuator. The control performance could be improved using the improved actuator and the improved control method.
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