Modeling and Analysis of Oblique-Chamber and Symmetric Oblique-Chamber Pneu-Net Soft Actuators
文献类型：期刊论文
| 作者 | Liu, Tong1,2; Wang, Xiaojie1
|
| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
 |
| 出版日期 | 2024-10-01 |
| 卷号 | 9 |
| 关键词 | Soft robots pneu-net soft actuators analytical modelling helical actuators soft grippers Soft robots pneu-net soft actuators analytical modelling helical actuators soft grippers |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2024.3451392 |
| 通讯作者 | Wang, Xiaojie(xjwang@iamt.ac.cn) |
| 英文摘要 | Oblique-chamber pneu-net soft actuators (OC-PNSAs) exhibit helical deformation upon inflation. The symmetric oblique-chamber pneu-net soft actuator (SOC-PNSA) consists of two symmetric OC-PNSAs. By adjusting the pressures in the two chambers, the deformation shape can be controlled, enabling it to grasp objects of varying shapes. In this letter, we first establish a deformation model for OC-PNSAs. We demonstrate that the OC-PNSA bends around the inclined wall upon inflation, thereby revealing the mechanism of its helical deformation. Furthermore, we demonstrate that the helical bending angle of the OC-PNSA is equal to the bending angle of the PNSA with the same dimensions. Therefore, the existing PNSA bending model can be applied to OC-PNSAs. Additionally, considering the coupling effects of the symmetric oblique chambers, we develop a deformation model for SOC-PNSAs based on the OC-PNSA model and the principle of equivalent effects. Both experiments and simulations validate the theoretical model's accuracy in predicting actuator deformation. The proposed model is valuable for optimizing the design and control of helical actuators, aiding their application in grasping objects of diverse shapes. |
| WOS关键词 | DESIGN |
| 资助项目 | National Key R&D Program of China[2023YFB4704600] ; Special Key Project of Technological Innovation and Application Development in Chongqing[CSTB2022TIAD-KPX0134] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001306768200008 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Key R&D Program of China ; Special Key Project of Technological Innovation and Application Development in Chongqing |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/135070]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Wang, Xiaojie |
| 作者单位 | 1.Chinese Acad Sci, Inst Intelligent Machines, Hefei Inst Phys Sci, Hefei 230031, Peoples R China 2.Univ Sci & Technol China, Hefei 230026, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Tong,Wang, Xiaojie. Modeling and Analysis of Oblique-Chamber and Symmetric Oblique-Chamber Pneu-Net Soft Actuators[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9. |
| APA | Liu, Tong,&Wang, Xiaojie.(2024).Modeling and Analysis of Oblique-Chamber and Symmetric Oblique-Chamber Pneu-Net Soft Actuators.IEEE ROBOTICS AND AUTOMATION LETTERS,9. |
| MLA | Liu, Tong,et al."Modeling and Analysis of Oblique-Chamber and Symmetric Oblique-Chamber Pneu-Net Soft Actuators".IEEE ROBOTICS AND AUTOMATION LETTERS 9(2024). |
入库方式： OAI收割
来源：合肥物质科学研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。