Performance study of RTV-2 Silicone Rubber Material For Soft Actuator by Experimental and Numerical methods: The Effect of Inflation Pressure and Wall Thickness

2020 ◽  
Vol 17 (1) ◽  
pp. 7524-7532 ◽  
Author(s):  
Deepak D. ◽  
Nitesh Kumar ◽  
Shreyas P. Shetty ◽  
Saurabh Jain ◽  
Manoj Bhat
Keyword(s):  
Numerical Methods ◽  
Wall Thickness ◽  
Silicone Rubber ◽  
Inflation Pressure ◽  
Performance Study ◽  
Rubber Material ◽  
Soft Actuator ◽  
Alternative Materials ◽  
Load Carrying ◽  
Influential Parameters

The expensive nature of currently used materials in the soft robotic industry demands the consideration of alternative materials for fabrication. This work investigates the performance of RTV-2 grade silicone rubber for fabrication of a soft actuator. Initially, a cylindrical actuator is fabricated using this material and its performance is experimentally assessed for different pressures. Further, parametric variations of the effect of wall thickness and inflation pressure are studied by numerical methods. Results show that, both wall thickness and inflation pressure are influential parameters which affect the elongation behaviour of the actuator. Thin (1.5 mm) sectioned actuators produced 76.97% more elongation compared to thick sectioned, but the stress induced is 89.61 % higher. Whereas, the thick sectioned actuator (6 mm) showed a higher load transmitting capability. With change in wall thickness from 1.5 mm to 6 mm, the elongation is reduced by 76.97 %, 38.35 %, 21.05 % and 11.43 % at pressure 100 kPa, 75 kPa, 50 kPa and 25 kPa respectively. The induced stress is also found reduced by 89.61 %, 86.66 %, 84.46 % and 68.68 % at these pressures. The average load carrying capacity of the actuator is found to be directly proportional to its wall thickness and inflation pressure.

scholarly journals Research on performance of rigid-hoop-reinforced multi-DOF soft actuator

2021 ◽  
Vol 13 (6) ◽  
pp. 168781402110267
Author(s):  
Jin Sun ◽  
Daozhou Zhang ◽  
Yang Zhang ◽  
Xinglong Zhu ◽  
Juntong Xi ◽  
...  
Keyword(s):  
Bearing Capacity ◽  
Silicone Rubber ◽  
Spring Steel ◽  
High Load ◽  
The Body ◽  
Load Carrying Capacity ◽  
Bending Angle ◽  
Soft Actuator ◽  
Load Carrying ◽  
Soft Actuators

In order to improve the bearing capacity of soft actuators, this article presents the development of the rigid-hoop-reinforced (spring or steel hoop) multi-DOF soft actuator. The actuator is composed of a rotary module with spring reinforcement on the silicone rubber-based body and a bending module with steel hoop reinforcement on the body. Compared with fiber-reinforced actuators, the bearing capacities of rigid-hoop-reinforced actuators made of 65Mn spring steel are improved. The radial and the axial bearing capacity for the bending module and the rotary module is raised by 29.6%, 28.2%, 30.6%, 49.6% respectively; under the same pressure, the spring-reinforced interval increases the maximum rotary angle of the rotary module, the steel hoop-reinforced interval increases the maximum bending angle of the bending module; with the same reinforcement type, the bending module with reinforcement interval of 10 mm has good bending characteristics that the bending angle changes with the pressure gently; the lower the hardness of silicone rubber base body, the better the adaptability and flexibility of the actuator, and the higher the hardness, the greater the bearing capacity of the actuator. Due to the above advantages, the rigid-hoop-reinforced multi-DOF soft actuator can be applied to medical devices which need high load-carrying capacity.

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.

Pavement Damage Due to Conventional and New Generation of Wide-Base Super Single Tires

2005 ◽  
Vol 33 (4) ◽  
pp. 210-226 ◽  
Author(s):  
I. L. Al-Qadi ◽  
M. A. Elseifi ◽  
P. J. Yoo ◽  
I. Janajreh
Keyword(s):  
Carrying Capacity ◽  
Material Properties ◽  
Three Dimensional ◽  
Fe Analysis ◽  
Load Carrying Capacity ◽  
Inflation Pressure ◽  
3D Finite Element ◽  
Load Carrying ◽  
Pavement Damage ◽  
New Generation

Abstract The objective of this study was to quantify pavement damage due to a conventional (385/65R22.5) and a new generation of wide-base (445/50R22.5) tires using three-dimensional (3D) finite element (FE) analysis. The investigated new generation of wide-base tires has wider treads and greater load-carrying capacity than the conventional wide-base tire. In addition, the contact patch is less sensitive to loading and is especially designed to operate at 690kPa inflation pressure at 121km/hr speed for full load of 151kN tandem axle. The developed FE models simulated the tread sizes and applicable contact pressure for each tread and utilized laboratory-measured pavement material properties. In addition, the models were calibrated and properly validated using field-measured stresses and strains. Comparison was established between the two wide-base tire types and the dual-tire assembly. Results indicated that the 445/50R22.5 wide-base tire would cause more fatigue damage, approximately the same rutting damage and less surface-initiated top-down cracking than the conventional dual-tire assembly. On the other hand, the conventional 385/65R22.5 wide-base tire, which was introduced more than two decades ago, caused the most damage.

scholarly journals Fully-Printable Soft Actuator with Variable Stiffness by Phase Transition and Hydraulic Regulations

Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 269
Author(s):  
Tingchen Liao ◽  
Manivannan Sivaperuman Kalairaj ◽  
Catherine Jiayi Cai ◽  
Zion Tsz Ho Tse ◽  
Hongliang Ren
Keyword(s):  
Transition Period ◽  
Shape Memory Polymer ◽  
Variable Stiffness ◽  
Pressure Variation ◽  
Soft Actuator ◽  
Output Force ◽  
Load Carrying ◽  
Force Variation ◽  
Stiffness Variation ◽  
Short Transition

Actuators with variable stiffness have vast potential in the field of compliant robotics. Morphological shape changes in the actuators are possible, while they retain their structural strength. They can shift between a rigid load-carrying state and a soft flexible state in a short transition period. This work presents a hydraulically actuated soft actuator fabricated by a fully 3D printing of shape memory polymer (SMP). The actuator shows a stiffness of 519 mN/mm at 20 ∘C and 45 mN/mm at 50 ∘C at the same pressure (0.2 MPa). This actuator demonstrates a high stiffness variation of 474 mN/mm (10 times the baseline stiffness) for a temperature change of 30 ∘C and a large variation (≈1150%) in average stiffness. A combined variation of both temperature (20–50 ∘C) and pressure (0–0.2 MPa) displays a stiffness variation of 501 mN/mm. The pressure variation (0–0.2 MPa) in the actuator also shows a large variation in the output force (1.46 N) at 50 ∘C compared to the output force variation (0.16 N) at 20 ∘C. The pressure variation is further utilized for bending the actuator. Varying the pressure (0–0.2 MPa) at 20 ∘C displayed no bending in the actuator. In contrast, the same variation of pressure at 50 ∘C displayed a bending angle of 80∘. A combined variation of both temperature (20–50 ∘C) and pressure (0–0.2 MPa) shows the ability to bend 80∘. At the same time, an additional weight (300 g) suspended to the actuator could increase its bending capability to 160∘. We demonstrated a soft robotic gripper varying its stiffness to carry objects (≈100 g) using two individual actuators.

Analysis and Research of Piezoelectric Dynamic Weighing Sensor

2011 ◽  
Vol 483 ◽  
pp. 643-646 ◽  
Author(s):  
Li Bo Zhao ◽  
Jian Qiang Liang ◽  
Yu Long Zhao ◽  
Jian Zhu Wang ◽  
Wei Chen ◽  
...  
Keyword(s):  
Wall Thickness ◽  
Quartz Crystal ◽  
Piezoelectric Effect ◽  
Fem Simulation ◽  
Ansys Software ◽  
Critical Dimensions ◽  
Load Carrying ◽  
Piezoelectric Coupling ◽  
Influence Curve ◽  
Dynamic Weighing

The Kistler company has invented piezoelectric dynamic weighing sensors which are applied to determine dynamically axle load, speed and gross weight of the vehicle based on piezoelectric effect of quartz crystal. They mainly consist of load-carrying beams and sensitive elements. Focusing on the control of preload in design and fabrication, finite element method (FEM) is applied with ANSYS software to optimize structural sizes. The influence curve of the structural dimensions of load-carrying beam on the preload is analyzed. With the piezoelectric coupling analysis function, the preload influence on the sensor sensitivity is researched. FEM simulation results show that the critical dimensions of load-carrying beam as well as the deformation and wall thickness of cavity have significant impact on the preload. Further studies show that the sensor has the highest sensitivity with the reasonable deformation and wall thickness of the cavity. In this paper, a sensor with range of 150 kN has the highest sensitivity at the wall thickness of 2 mm and the deformation of 0.14 mm.

Numerical Simulation of Localized Bulging in an Inflated Hyperelastic Tube with Fixed Ends

2020 ◽  
pp. 2050118
Author(s):  
Zehui Lin ◽  
Linan Li ◽  
Yang Ye
Keyword(s):  
Axial Stress ◽  
Necessary Condition ◽  
Theoretical Studies ◽  
Inflation Pressure ◽  
Material Models ◽  
Rubber Material ◽  
Bifurcation Phenomenon ◽  
A Value ◽  
Pressure Maximum ◽  
Almost All

When a hyperelastic tube is inflated, the inflation pressure has a maximum for almost all rubber material models, but has no maximum for commonly used arterial models. It is generally believed that the pressure having a maximum is a necessary condition for localized bulging to occur, and therefore aneurysms cannot be modeled as a mechanical bifurcation phenomenon. However, recent theoretical studies have shown that if the axial stretch is fixed during inflation, localized bulging may still occur even if a pressure maximum does not exist in uniform inflation. In this paper, numerical simulations are conducted to confirm this theoretical prediction. It is also demonstrated that if the axial pre-stretch is not sufficiently large, unloading near the two ends can reduce the axial stress to a value close to zero and Euler-type buckling then occurs.

scholarly journals A Quick Classifying Method for Tracking and Erosion Resistance of HTV Silicone Rubber Material via Laser-Induced Breakdown Spectroscopy

Sensors ◽  
2019 ◽  
Vol 19 (5) ◽  
pp. 1087 ◽  
Author(s):  
Ping Chen ◽  
Xilin Wang ◽  
Xun Li ◽  
Qishen Lyu ◽  
Naixiao Wang ◽  
...  
Keyword(s):  
Silicone Rubber ◽  
Erosion Resistance ◽  
Performance Enhancement ◽  
Filler Content ◽  
Principal Component ◽  
Laser Induced Breakdown Spectroscopy ◽  
Rubber Material ◽  
Breakdown Spectroscopy ◽  
Laser Induced Breakdown ◽  
Resistance Performance

Silicone rubber material is widely used in high-voltage external insulation systems due to its excellent hydrophobicity and hydrophobicity transfer performance. However, silicone rubber is a polymeric material with a poor ability to resist electrical tracking and erosion; therefore, some fillers must be added to the material for performance enhancement. The inclined plane test is a standard method used for evaluating the tracking and erosion resistance by subjecting the materials to a combination of voltage stress and contaminate droplets to produce failure. This test is time-consuming and difficult to apply in field inspection. In this paper, a new and faster way to evaluate the tracking and erosion resistance performance is proposed using laser-induced breakdown spectroscopy (LIBS). The influence of filler content on the tracking and erosion resistance performance was studied, and the filler content was characterized by thermogravimetric analysis and the LIBS technique. In this paper, the tracking and erosion resistance of silicone rubber samples was correctly classified using principal component analysis (PCA) and neural network algorithms based on LIBS spectra. The conclusions of this work are of great significance to the performance characterization of silicone rubber composite materials.

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