Design and Experiments of Pneumatic Soft Actuators

Robotica ◽  
2021 ◽  
pp. 1-10
Author(s):  
Liqiang Guo ◽  
Ke Li ◽  
Guanggui Cheng ◽  
Zhongqiang Zhang ◽  
Chu Xu ◽  
...  
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Production Line ◽  
Element Analysis ◽  
Soft Actuator ◽  
Flexible Material ◽  
The Future ◽  
Inner Diameter ◽  
Soft Actuators ◽  
Torsion Deformation

SUMMARY The soft actuator is made of superelastic material and embedded flexible material. In this paper, a kind of soft tube was designed and used to assemble two kinds of pneumatic soft actuators. The experiment and finite element analysis are used to comprehensively analyze and describe the bending, elongation, and torsion deformation of the soft actuator. The results show that the two soft actuators have the best actuation performance when the inner diameter of the soft tube is 4 mm. In addition, when the twisting pitch of the torsional actuator is 24 mm, its torsional performance is optimized. Finally, a device that can be used in the production line was assembled by utilizing those soft actuators, and some operation tasks were completed. This experiment provides some insights for the development of soft actuators with more complex motions in the future.

DESIGN AND ANALYSIS OF BENDING MOTION IN SINGLE AND DUAL CHAMBER BELLOWS STRUCTURED SOFT ACTUATORS

2016 ◽  
Vol 78 (6-13) ◽  
Author(s):  
Tariq Rehman ◽  
A. A. M. Faudzi ◽  
Dyah Ekashanti Octorina Dewi ◽  
K. Suzumori ◽  
M. R. M. Razif ◽  
...  
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Silicone Rubber ◽  
Soft Robotics ◽  
Dual Chamber ◽  
Element Analysis ◽  
Rubber Material ◽  
Single Chamber ◽  
Soft Actuator ◽  
Soft Actuators

As one of the most important characteristics of soft actuators, bending motion has been widely used in the field of soft robotics to perform different manipulation and tasks. In this study, we design silicone rubber material based soft actuators consisting of single and dual chambers, and a bellows structure. Several models of bellows soft actuators were designed, simulated and analyzed using finite element analysis (FEA) software MARC®, in order to understand the characteristics of bellows structured soft actuator with single and dual chambers and to optimize the performance of bending motion of bellows soft actuators. The results confirm that the bellows structured pneumatic soft actuator model 4 of single chamber and model 5 of dual chamber produces the best bending motion and bending angles.

scholarly journals Rapid Design and Analysis of Microtube Pneumatic Actuators Using Line-Segment and Multi-Segment Euler–Bernoulli Beam Models

Micromachines ◽  
2019 ◽  
Vol 10 (11) ◽  
pp. 780 ◽  
Author(s):  
Myunggi Ji ◽  
Qiang Li ◽  
In Ho Cho ◽  
Jaeyoun Kim
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Line Segment ◽  
Beam Model ◽  
Element Analysis ◽  
Pneumatic Actuators ◽  
Design And Optimization ◽  
Rapid Design ◽  
The Finite Element Analysis ◽  
Soft Actuators

Soft material-based pneumatic microtube actuators are attracting intense interest, since their bending motion is potentially useful for the safe manipulation of delicate biological objects. To increase their utility in biomedicine, researchers have begun to apply shape-engineering to the microtubes to diversify their bending patterns. However, design and analysis of such microtube actuators are challenging in general, due to their continuum natures and small dimensions. In this paper, we establish two methods for rapid design, analysis, and optimization of such complex, shape-engineered microtube actuators that are based on the line-segment model and the multi-segment Euler–Bernoulli’s beam model, respectively, and are less computation-intensive than the more conventional method based on finite element analysis. To validate the models, we first realized multi-segment microtube actuators physically, then compared their experimentally observed motions against those obtained from the models. We obtained good agreements between the three sets of results with their maximum bending-angle errors falling within ±11%. In terms of computational efficiency, our models decreased the simulation time significantly, down to a few seconds, in contrast with the finite element analysis that sometimes can take hours. The models reported in this paper exhibit great potential for rapid and facile design and optimization of shape-engineered soft actuators.

Finite Element Analysis of Tubular Ovality in Oil Well

2011 ◽  
Vol 264-265 ◽  
pp. 1654-1659 ◽  
Author(s):  
Tasneem Pervez ◽  
Sayyad Zahid Qamar
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Petroleum Industry ◽  
Element Model ◽  
Expansion Ratio ◽  
Contact Length ◽  
American Petroleum Institute ◽  
Oil Well ◽  
Element Analysis ◽  
Inner Diameter

This paper presents the finite element analysis of tubular expansion in oval bore holes such as those frequently observed in Upper Natih reservoirs. The minimum inner diameter of the expanded tubular must be larger than the drift diameter set by American Petroleum Institute (API) standards. If the minimum inner diameter is smaller than drift diameter, completion equipments can not be run successfully, which is necessary to complete an oil-well for production. The phenomenon of tubular ovality has been previously unknown to petroleum industry. Finite element model of tubular expansion in oval bore-holes is developed to determine the tubular ovality and compared with measured ovality. It was found that ovality increases linearly with tubular expansion ratio. With increase in expansion ratio, the tubular contact length with formation and developed contact pressure increases. Tubular ovality, if not considered in well design, may lead to premature tubular failure due to lower collapse rating and higher stresses.

Finite Element Analysis of C Axis of High-Power Direct-Drive Bi-Rotary Milling Head

2010 ◽  
Vol 34-35 ◽  
pp. 202-206
Author(s):  
Ming Yan ◽  
Peng Zheng ◽  
Yan Li ◽  
Xiu Feng Gao
Keyword(s):  
Finite Element Method ◽  
Finite Element Analysis ◽  
Finite Element ◽  
Design Process ◽  
High Power ◽  
Direct Drive ◽  
Element Analysis ◽  
High Torque ◽  
Torsion Deformation ◽  
Element Method

In a direct-drive high-power A / C-axis bi-rotary milling head, torque is transferred by two parallel connected rotary direct drive motors in C-axis, therefore, the length of C axis is inevitable large, moreover, the transmission components of it are bearing high torque. The torsion deformation of C axis must compute accurately during the design process. The torsion deformation of the transmission components of C parts when C-axis is rotating is analyzed by finite element method, the racial deformation and the torsion deformation of the case when C-axis is locking are analyzed either, this computing can provide support for the design and improvement of this type of milling head.

Vibration Research of Gear Box in H5 Mill for Alloy Bar's Rolling Process

2010 ◽  
Vol 150-151 ◽  
pp. 373-378
Author(s):  
Li Qun Wei ◽  
Zhi Hao Qu ◽  
Han Hui Chen ◽  
Mou Yuan Liu ◽  
Xing Yao Zhang
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Energy Saving ◽  
Production Line ◽  
Rolling Process ◽  
Element Analysis ◽  
Limited Company ◽  
Reinforcing Ribs ◽  
Gear Box ◽  
Energy Saving Process

The abnormal vibration of H5 mill’s gear box has influenced the implementation of the energy-saving process in the alloy bar production line of special steel branch, Baosteel limited company. The reasons of the abnormal vibration have been determined by experiment and ANSYS finite element analysis, and corresponding measures have been provided. The rigidity of the gear box has improved by reinforcing ribs. By applying the reinforced gear box, the abnormal vibration has been effectively inhibited and the implementation of the energy-saving process has been guaranteed.

Structure Optimization of the Small Arm of Feed Mechanism in the Rubber Mixing Production Line

2013 ◽  
Vol 816-817 ◽  
pp. 790-794
Author(s):  
Peng Zheng ◽  
Zhi Yan Jia ◽  
Li Gong
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Production Line ◽  
Design Theory ◽  
Optimization Design ◽  
Three Dimensional ◽  
Structure Optimization ◽  
Structure Theory ◽  
Analysis Software ◽  
Element Analysis

In the rubber mixing production line, because of the traditional design method, the stiffness of the small arm of feed mechanism is usually not enough and the reserve of strength and weight is surplus. To solve the above problems, we optimized the arm structure with the optimization design module of the finite element analysis software. Based on the structure theory and optimization design theory, the three-dimensional model and the proper optimization model been established with the three-dimensional software and finite element analysis software. The total weight of the small arm is used as the objective of optimization and the dimensions of each parts is used as the design variables. Under the precondition of requirements of strength and stiffness, the optimal solution of these dimensions is figured out. Analysis shows that the method of structure optimization is feasible. This method provides an important reference for the optimization design of feed mechanism's small arm and similar parts.

scholarly journals Finite element analysis applied to the transcatheter mitral valve therapy: Studying the present, imagining the future

2019 ◽  
Vol 157 (4) ◽  
pp. e149-e151 ◽  
Author(s):  
Francesco Nappi ◽  
David Attias ◽  
Sanjeet Singh Avtaar Singh ◽  
Victorien Prot
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Mitral Valve ◽  
Element Analysis ◽  
The Future

Non-Linear Finite Element Analysis of Biologically Inspired Robotic Fin Actuated by Soft Actuators

2014 ◽  
Vol 528 ◽  
pp. 272-277 ◽  
Author(s):  
Muhammad Rusydi Muhammad Razif ◽  
Natarajan Elango ◽  
Ili Najaa Aimi Mohd Nordin ◽  
Ahmad Athif Mohd Faudzi
Keyword(s):  
Finite Element ◽  
Wave Motion ◽  
Biologically Inspired ◽  
Element Analysis ◽  
Soft Actuator ◽  
Linear Finite Element ◽  
Pressure Distributions ◽  
Lateral Displacements ◽  
Soft Actuators ◽  
The Right

In this paper, a robotic fin was idealized with three rays, which are serially connected by thin flexible rubber membranes. Each ray consists a two chamber braided soft actuator operated by pneumatic pressure at the maximum of 20 kPa. The bending of the ray is achieved by alternating the supply of air to the chamber. The soft actuator bends to the right when the left chamber is pressurized and moves to the left when the right chamber is pressurized. The propulsive wave motion along the fin is thus achieved by oscillating the rays at the same frequency but in different phases. The finite element (FE) analysis was conducted in MARC®, nonlinear FE software, from which the lateral displacements of the rays and the corresponding effect on the membranes were measured. The wave amplitude of the fin was computed from the simulation results. The wave motion of the robotic fin and its corresponding pressure distributions were also observed and presented.

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