Multiple Inputs-Single Accumulated Output Mechanism for Soft Linear Actuators

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Kyeong Ho Cho ◽  
Ho Moon Kim ◽  
Youngeun Kim ◽  
Sang Yul Yang ◽  
Hyouk Ryeol Choi
Keyword(s):  
Artificial Muscle ◽  
Operating Mode ◽  
Robotic Arm ◽  
Soft Actuator ◽  
Wearable Robots ◽  
Working Principle ◽  
Linear Actuators ◽  
Soft Actuators ◽  
Muscle Actuators ◽  
Further Development

Soft linear actuators (SLAs) such as shape memory alloy (SMA) wires, pneumatic soft actuators, dielectric elastomer actuator, and twisted and coiled soft actuator (TCA) called artificial muscle actuators in general, have many advantages over the conventional actuators. SLAs can realize innovative robotic technologies like soft robots, wearable robots, and bionic arms in the future, but further development is still needed in real applications because most SLAs do not provide large displacement or force as needed. This paper presents a novel mechanism supplementing SLAs by accumulating the displacement of multiple SLAs. It adopts the principle of differential gears in reverse. Since the input units of the mechanism are extensible, more displacement can be accumulated by increasing the number of the input units as many as needed. The mechanism is basically used to accumulate displacements, but can be used to accumulate forces by changing its operating mode. This paper introduces the design and working principle of the mechanism and validates its operation experimentally. In addition, the mechanism is implemented on a robotic arm and its effectiveness is confirmed.

scholarly journals Dielectric Elastomer Grippers

2021 ◽  
Vol 10 (5) ◽  
pp. 33-36
Author(s):  
Mills Patel ◽  
Rudrax Khamar ◽  
Akshat Shah ◽  
Tej shah ◽  
Bhavik Soneji
Keyword(s):  
Mechanical Properties ◽  
Power Generation ◽  
State Of The Art ◽  
Artificial Muscle ◽  
Dielectric Elastomer ◽  
Soft Robotics ◽  
Artificial Muscles ◽  
Dielectric Elastomer Actuators ◽  
Working Principle ◽  
Soft Actuators

This paper appraisals state-of-the-art dielectric elastomer actuators (DEAs) and their forthcoming standpoints as soft actuators which have freshly been considered as a crucial power generation module for soft robots. DEs behave as yielding capacitors, expanding in area and attenuation in thickness when a voltage is applied. The paper initiates with the explanation of working principle of dielectric elastomer grippers. Here the operation of DEAs include both physics and mechanical properties with its characteristics, we have describe methods for modelling and its introductory application. In inclusion, the artificial muscle based on DEA concept is also formally presented. This paper also elaborates DEAs popular application such as- Soft Robotics, Robotics grippers and artificial muscles.

Hydraulically amplified self-healing electrostatic actuators with muscle-like performance

Science ◽  
2018 ◽  
Vol 359 (6371) ◽  
pp. 61-65 ◽  
Author(s):  
E. Acome ◽  
S. K. Mitchell ◽  
T. G. Morrissey ◽  
M. B. Emmett ◽  
C. Benjamin ◽  
...  
Keyword(s):  
High Speed ◽  
Dielectric Breakdown ◽  
Artificial Muscle ◽  
Robotic Arm ◽  
Soft Robotics ◽  
Self Healing ◽  
Electrostatic Actuators ◽  
Robotic Devices ◽  
Soft Actuators ◽  
Wide Potential

Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown—all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.

Pneumatic Artificial Muscle Actuators With Integrated Controls for Space Flight Applications

2019 ◽  
Author(s):  
Christopher J. Netwall ◽  
James P. Thomas ◽  
Michael S. Kubista ◽  
Kerry A. Griffith ◽  
Christopher Kindle ◽  
...  
Keyword(s):  
Space Flight ◽  
Performance Metrics ◽  
Artificial Muscle ◽  
Degree Of Freedom ◽  
Robotic Arm ◽  
Naval Research ◽  
Pneumatic Artificial Muscle ◽  
Robot Arm ◽  
Space Applications ◽  
Muscle Actuators

Abstract The U.S. Naval Research Laboratory (NRL) has been developing a space-rated 7 degree of freedom (DOF) robot arm with a high payload-to-mass ratio as an alternative design to motor-gear driven robotic manipulators. The robot arm employs antagonistic pairs of pneumatic artificial muscle (PAM) actuators to control each degree-of-freedom (DOF) to achieve large force outputs relative to the PAM component masses. A novel feature of the NRL PAM actuator was the integration of the pneumatic control components inside the pressure-bladder, which not only reduces the volume of the robotic arm hardware but also reduces the pressurized-gas actuation volume in the PAM enabling significant reductions in gas consumption during actuation. This multifunctional design enables reductions in launch-weight costs and increases in operational endurance for space applications. The integration of these PAMs into a well-designed robotic-arm structure, in tandem with a newly developed control algorithm, has the potential to exceed the performance metrics of traditional motor-driven robot arms. This paper describes the development of the improved efficiency PAM design that is advancing this technology towards space flight readiness.

scholarly journals Polypyrrole nanoparticles-based soft actuator for artificial muscle applications

RSC Advances ◽  
2019 ◽  
Vol 9 (68) ◽  
pp. 39721-39734 ◽  
Author(s):  
Ajahar Khan ◽  
Khalid A. Alamry ◽  
Ravi Kant Jain
Keyword(s):  
Raw Materials ◽  
Artificial Muscle ◽  
Fabrication Technique ◽  
Soft Actuator ◽  
Important Challenge ◽  
Polypyrrole Nanoparticles ◽  
Soft Actuators ◽  
Robotic Applications

Currently, a straightforward fabrication technique for the development of soft actuators to explore their potential in robotic applications using environmentally compatible raw materials represents an important challenge.

scholarly journals Design of a Mechatronic Interface with Compliant Manipulator for Robot Assisted Echocardiography

2021 ◽  
Vol 2107 (1) ◽  
pp. 012005
Author(s):  
Mostafa Sayahkarajy ◽  
Ahmad Athif Mohd Faudzi
Keyword(s):  
Ionizing Radiation ◽  
Robotic Arm ◽  
Robot Assisted ◽  
Human Errors ◽  
Medical Practitioners ◽  
Soft Actuator ◽  
Soft Actuators ◽  
Fundamental Equations ◽  
Manual Manipulation ◽  
Insertion Tube

Abstract A compliant manipulator with a compound soft actuator is proposed for robot-assisted echocardiography. The target application is devoted to the TOE echo (Trans-oesophageal echocardiography), which is conventionally performed by medical practitioners. The manual manipulation of the echocardiography probe shows significant risks such as human errors, exposure to ionizing radiation, and multitasking complexity. Automation of TOE provides advantages in terms of control, safety, and workload of the operator. This paper proposes a teleoperated robotic system assisting the physician to perform TOE, to be used in cardiac catheterization laboratories as well as hybrid operation theatres. A system containing a holder with master-slave Dynamixel servos and a manipulator with soft actuators has been developed. To alleviate the major lack of the previous designs in conducting the insertion tube, a robotic arm with a soft structure is proposed that has not hazards of conventional robot manipulators. The fundamental equations and relations for quasi-static control of the system are developed in this paper.

Considerations on Designing Artificial Muscle Working at High Pressure

2012 ◽  
Vol 268-270 ◽  
pp. 1457-1463
Author(s):  
Li Chao Wang ◽  
Xiao Dong Wang
Keyword(s):  
High Pressure ◽  
Material Properties ◽  
Weight Ratio ◽  
Artificial Muscle ◽  
Force Output ◽  
Compact Structure ◽  
Small Power ◽  
Small Force ◽  
Working Principle ◽  
Contraction Angle

Artificial muscle is a new style of actuator with novel working principle, which owns the advantages of compact structure, high power-to-weight ratio, compliance and easy application. Pneumatic artificial muscle (PAM) is usually used in robotics, medical auxiliaries and other small force output occasions nowadays. However, it suffers problems of small power, hysteresis and poor repeatability. A kind of artificial muscle working at high pressure was researched. Different muscle styles are compared and MicKibben structure is selected while fluid media is determined. Furthermore, factors of geometry and material properties, which limit the ultimate pressure, are analyzed. Formulas and simulations verify the influence of limitation and help to calculate key parameters of 18MPa artificial muscle. Data show that it is possible in theory to design high pressure artificial muscle by overall consideration of initial diameter, initial contraction angle and material properties, initial length only influent the stroke.

Examining the Coiling Motion of Soft Actuators Reinforced With Tilted Helix Fibers

2018 ◽  
Author(s):  
Ryan Geer ◽  
Suyi Li
Keyword(s):  
Longitudinal Axis ◽  
Robotic Manipulation ◽  
Proof Of Concept ◽  
Soft Actuator ◽  
Kevlar Fiber ◽  
New Family ◽  
End Caps ◽  
Soft Actuators ◽  
Unique Cell ◽  
Cell Wall Architecture

This study aims to examine the coiling and uncoiling motion of a soft pneumatic actuator reinforced with tilted helix fibers. Coiling motion can be quite useful for robotic manipulation and locomotion purposes. This research proposes and investigates a novel actuator that is inspired and derived from the unique cell wall architecture in the seed appendage of Stork’s Bill plant (Erodium Gruinum). These plant cells are reinforced by cellulose fibers distributed in a tilted helix pattern — helixes that are tilted at a certain angle with respect to the longitudinal axis of the cell. As a result, the seed appendage can coil and uncoil via a combination of twisting and bending. This paper discusses the design, fabrication, and testing of a soft actuator that can mimic this sophisticated motion. This actuator consists of Kevlar fiber thread wrapped around a silicon rubber body that has the shape of a tube. The tube will be capped at both ends so that it can be pressurized internally to induce motion. Once the design parameter has been chosen, the soft actuator are fabricated by 1) designing and 3D printing molds, 2) tube casting and fiber wrapping, and 3) creating the end caps for pressure sealing. Carefully executing these fabrication steps is essential because any errors could give undesired deformation. Several soft actuators prototypes are fabricated based on different design choices regarding the actuator radius, tube wall thickness, and the number of tilted helix fibers (aka. fiber coverage). Proof-of-concept tests show that these actuator prototypes can indeed exhibit a combined twisting and bending under internal pressurization: all are the necessary receipts to achieve the coiling and uncoiling motion. Result of this paper can pave the way for a new family of soft actuators capable of unprecedented and sophisticated actuation motions, which are particularly appealing for soft robot application.

scholarly journals Technological Adaptation of Internal Dumping to the Operating Mode of Open Pit when Developing Inclined and Steeply Dipping Coal Seams Strata

2021 ◽  
Vol 315 ◽  
pp. 01015
Author(s):  
Alexei Selyukov
Keyword(s):  
Surface Mining ◽  
Operating Mode ◽  
Open Pit ◽  
Surface Mines ◽  
Technological Adaptation ◽  
Coal Deposits ◽  
Mining Front ◽  
Mining Methods ◽  
Further Development ◽  
Internal Dumping

With surface mining of inclined and steeply dipping coal deposits, the so-called deeping longitudinal mining methods with a gradual deepening of mining from the surface to the final depth are widely spread, while orienting the mining front along the strike line of the seams (strata). When using such mining methods, the volumes of internal dumping are limited or completely absent; there is a peak-like increase in overburden volumes and transportation distance, the land resources disturbing proceeds at a progressive pace. In this regard, it is obvious that an important production task is to find technological solutions and methods to develop coal deposits that reduce the environmental hazard and increase resource conservation in mining by placing overburden in the mined-out space while reducing the area for external dumps and disturbing the earth's surface. If this is not foreseen at the present time, then all coal surface mines in the coming decades will be limited by their own external dumps of overburden, and their further development will be problematic.

Design and optimization of actuator for multi-joint soft rehabilitation glove

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Xinjie Wang ◽  
Yan Cheng ◽  
Huadong Zheng ◽  
Yihao Li ◽  
Caidong Wang
Keyword(s):  
Constitutive Model ◽  
Element Model ◽  
Longitudinal Section ◽  
Bending Test ◽  
Hand Rehabilitation ◽  
Content Type ◽  
Design And Optimization ◽  
Soft Actuator ◽  
New Type ◽  
Soft Actuators

Purpose Currently, rehabilitation medical care is expensive, requires a large number of rehabilitation therapist and which can only limit in the fixed location. In addition, there is a lack of research on the structure optimization and theoretical analysis of soft actuators for hand rehabilitation. In view of the problems above, this paper aims to propose a cheap, portable, wearable soft multiple joints rehabilitation glove. Design/methodology/approach First, this paper determined the hyperelastic constitutive model by material tensile test. Second, the soft actuator’s internal longitudinal section shape was optimized through the comparison of three diverse chamber structures. Meanwhile, the motion model of the soft actuator is established by the finite element model analysis method. Then, this paper established the constitutive model of the soft actuator according to the torque equilibrium equation and analyzed the relationship between the soft actuator’s bending angle and the input air pressure. This paper has verified that the theoretical model is correct through the soft actuator bending test. Finally, rehabilitation gloves were manufactured according to the model and the rehabilitation performance and grasping ability of gloves were verified through experiments. Findings The optimization results show that the internal semicircular cavity has better performance. Then, the actuator performance is better after adding the external arc structure and optimizing the physical dimension. The experimental results show that the trajectory of the actuator conforms to the mathematical model and rehabilitation gloves can meet the needs of rehabilitation treatment. Practical implications Rehabilitation gloves made of actuators can help patients with hand dysfunction in daily rehabilitation training. Then, it can also assist patients with some fine and complicated hand movements. Originality/value This paper proposes a new type of soft rehabilitation glove, which is composed of new soft actuators and adapting pieces. The new actuator is small enough to be fitted to the knuckle of the glove to move each joint of the finger.

scholarly journals Application and Analysis of an Ionic Liquid Gel in a Soft Robot

2019 ◽  
Vol 2019 ◽  
pp. 1-14
Author(s):  
Chenghong Zhang ◽  
Bin He ◽  
Zhipeng Wang ◽  
Yanmin Zhou ◽  
Aiguo Ming
Keyword(s):  
Ionic Liquid ◽  
Uv Light ◽  
Electroactive Polymers ◽  
Electroactive Polymer ◽  
Soft Robot ◽  
Polymer Gel ◽  
Basic Module ◽  
Soft Actuator ◽  
New Type ◽  
Soft Actuators

Due to their light weight, flexibility, and low energy consumption, ionic electroactive polymers have become a hotspot for bionic soft robotics and are ideal materials for the preparation of soft actuators. Because the traditional ionic electroactive polymers, such as ionic polymer-metal composites (IPMCs), contain water ions, a soft actuator does not work properly upon the evaporation of water ions. An ionic liquid polymer gel is a new type of ionic electroactive polymer that does not contain water ions, and ionic liquids are more thermally and electrochemically stable than water. These liquids, with a low melting point and a high ionic conductivity, can be used in ionic electroactive polymer soft actuators. An ionic liquid gel (ILG), a new type of soft actuator material, was obtained by mixing 1-butyl-3-methylimidazolium tetrafluoroborate (BMIMBF4), hydroxyethyl methacrylate (HEMA), diethoxyacetophenone (DEAP) and ZrO2 and then polymerizing this mixture into a gel state under ultraviolet (UV) light irradiation. An ILG soft actuator was designed, the material preparation principle was expounded, and the design method of the soft robot mechanism was discussed. Based on nonlinear finite element theory, the deformation mechanism of the ILG actuator was deeply analyzed and the deformation of the soft robot when grabbing an object was also analyzed. A soft robot was designed with the soft actuator as the basic module. The experimental results show that the ILG soft robot has good driving performance, and the soft robot can grab a 105 mg object at an input voltage of 3.5 V.

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