Design and Analysis of a Novel Soft Bending Actuator Based on Eccentric Structure

2021 ◽  
Author(s):  
Kai Li ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Yaqi Chu
Keyword(s):  
Bending Actuator ◽  
Eccentric Structure

Dielectric elastomer bending actuator: experiment and theoretical analysis

2014 ◽  
Author(s):  
Jinrong Li ◽  
Liwu Liu ◽  
Yanju Liu ◽  
Jinsong Leng
Keyword(s):  
Theoretical Analysis ◽  
Dielectric Elastomer ◽  
Bending Actuator

scholarly journals Novel Design and Position Control Strategy of a Soft Robot Arm

Robotics ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 72 ◽  
Author(s):  
Alaa Al-Ibadi ◽  
Samia Nefti-Meziani ◽  
Steve Davis ◽  
Theo Theodoridis
Keyword(s):  
Position Control ◽  
Control Strategies ◽  
Tensile Force ◽  
Compressive Force ◽  
Soft Robot ◽  
Robot Arm ◽  
Bending Actuator ◽  
Muscle Actuators ◽  
Novel Design ◽  
Bending Behaviour

This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum arm. Two different position control strategies are presented, arising from the results of the modified soft robot arm experiment. A cascaded position control is applied to control the position of the end effector of the soft arm at no load by efficiently controlling the pressure of all the actuators in the continuum arm. A new algorithm is then proposed by distributing the x, y and z-axis to the actuators and applying an effective closed-loop position control to the proposed arm at different load conditions.

scholarly journals Inelastic Parametric Analysis of Seismic Responses of Multistorey Bidirectional Eccentric Structure

2018 ◽  
Vol 2018 ◽  
pp. 1-20
Author(s):  
Yu-ping Kuang ◽  
Xin-liang Jiang ◽  
Nan Jiang
Keyword(s):  
Seismic Response ◽  
Parametric Analysis ◽  
Coupling Effect ◽  
Parameter Analysis ◽  
Seismic Responses ◽  
Load Direction ◽  
General Law ◽  
Eccentric Structure ◽  
Natural Frequency Variation ◽  
Elastic Stage

This paper conducts a parametric study on the seismic response of multistorey bidirectional eccentric structures from elastic stage to inelastic stage. Based on a simplified multistorey bidirectional eccentric model composed of bidirectional lateral load-resisting members, a general law is proposed for three-stage natural frequency variation behaviour from elastic stage to inelastic stage of eccentric frame structures with different layers. Different simplification treatments are conducted on each stage and the three stable parameter analysis stages are defined. The corresponding dynamic stiffness matrices and motion equations in different loading stages are derived. On this basis, a parametric analysis of seismic response of a three-storey bidirectional regular eccentric structure from elastic stage to inelastic stage is conducted. Effects of the uncoupled torsion to lateral frequency ratios (Ω) and bidirectional eccentricities on the seismic responses are investigated. The results reveal that as Ω increases, translational displacement in the load direction first decreases and then increases; meanwhile, the displacement perpendicular to load direction and torsion displacement first rise and then decrease sharply. When Ω=1.1, the coupling effect between the translation in the load direction and the torsion is at its strongest condition. Increasing the eccentricities leads to a decrease in the displacement in the load direction as well as an increase in the displacement perpendicular to load direction and torsion displacement. Variation regularity of inelastic seismic response is remarkably different from that in elastic stage. The lateral-torsional coupling effect of the bidirectional eccentric structure is closely related to both the period ratio and the bidirectional eccentricities.

scholarly journals Electro-Active Paper as a Flexible Mechanical Sensor, Actuator and Energy Harvesting Transducer: A Review

Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3474 ◽  
Author(s):  
Asif Khan ◽  
Faisal Raza Khan ◽  
Heung Soo Kim
Keyword(s):  
Energy Harvesting ◽  
Polyvinylidene Fluoride ◽  
Mechanical Vibration ◽  
Hybrid Nanocomposites ◽  
Vibration Sensor ◽  
Vibration Energy ◽  
Future Research ◽  
Energy Scavenging ◽  
Vibration Energy Harvester ◽  
Bending Actuator

Electro-active paper (EAPap) is a cellulose-based smart material that has shown promising results in a variety of smart applications (e.g., vibration sensor, piezo-speaker, bending actuator) with the merits of being flexible, lightweight, fracture tolerant, biodegradable, naturally abundant, cheap, biocompatible, and with the ability to form hybrid nanocomposites. This paper presents a review of the characterization and application of EAPap as a flexible mechanical vibration/strain sensor, bending actuator, and vibration energy harvester. The working mechanism of EAPap is explained along with the various parameters and factors that influence the sensing, actuation, and energy harvesting capabilities of EAPap. Although the piezoelectricity of EAPap is comparable to that of commercially available polyvinylidene fluoride (PVDF), EAPap has the preferable merits in terms of natural abundance and ample capacity of chemical modification. The article would provide guidelines for the characterization and application of EAPap in mechanical sensing, actuation, and vibration energy scavenging, along with the possible limitations and future research prospects.

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