Design of Low Pressure Driven Soft Actuators for Soft Gripper

2021 ◽  
Vol 16 (1) ◽  
pp. 23-28
Author(s):  
Jingon Yoon ◽  
Dongwon Yun
Keyword(s):  
Low Pressure ◽  
Soft Actuators ◽  
Pressure Driven

322 Development of five-fingered robot hand using low pressure driven pneumatic actuator

2006 ◽  
Vol 2006.81 (0) ◽  
pp. _3-26_
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Shigeki SHIRAI ◽  
Atsushi HASHIMOTO ◽  
Tatsuwo KUDAWARA ◽  
...  
Keyword(s):  
Low Pressure ◽  
Pneumatic Actuator ◽  
Robot Hand ◽  
Pressure Driven

A37 Development of Robot Hand Using Low-pressure Driven Pneumatic Actuator

2005 ◽  
Vol 2005.9 (0) ◽  
pp. 178-181
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Atsushi HASHIMOTO ◽  
Tatsuwo KUDAWARA ◽  
Mikio SHIMIZU
Keyword(s):  
Low Pressure ◽  
Pneumatic Actuator ◽  
Robot Hand ◽  
Pressure Driven

A virtual work model for the design and parameter identification of cylindrical pressure-driven soft actuators

2021 ◽  
pp. 1-16
Author(s):  
Frederik Lamping ◽  
Kristin M. de Payrebrune
Keyword(s):  
Parameter Identification ◽  
Virtual Work ◽  
Fiber Reinforcement ◽  
Material Model ◽  
Geometric Constraints ◽  
Dependent Behavior ◽  
Applied Forces ◽  
Work Model ◽  
Soft Actuators ◽  
Pressure Driven

Abstract In this paper, we derive a model based on the principle of virtual work to describe the deformations of cylindrical pressure-driven soft actuators with four types of fiber reinforcement and with externally applied forces. Such cylindrical actuators are often used as the basis for multi-chamber soft robotic systems, for example bending actuators. In the virtual work model, each type of reinforcement leads to particular geometric constraints; the energy of the stretched material is determined by the Yeoh material model. Finally, the stretch of the actuator is solved numerically by a minimization problem. The virtual work model yielded only little deviations of the predicted stretch relative to Finite Element simulations in Abaqus. The key contribution of the virtual work model is improved parameter identification for the modeling of cylindrical soft actuators, as it illustrates the possibility to distinguish between material-dependent behavior and geometry-dependent behavior of these actuators. Also, the virtual work model is applicable in the design process of the investigated actuators. We demonstrate that an optimization of the actuator's inner and outer radii and of its fiber angle, respectively, is possible and we derive design rules including criteria for the choice of fiber reinforcement.

Hydrogel-embedded tight ultrafiltration membrane with superior anti-dye-fouling property for low-pressure driven molecule separation

2018 ◽  
Vol 6 (7) ◽  
pp. 2927-2934 ◽  
Author(s):  
Gaoshuo Jiang ◽  
Shenxiang Zhang ◽  
Yuzhang Zhu ◽  
Shoujian Gao ◽  
Huile Jin ◽  
...  
Keyword(s):  
Low Pressure ◽  
Ultrafiltration Membrane ◽  
Sodium Polyacrylate ◽  
Pressure Driven

A hydrogel-embedded tight ultrafiltration membrane composed of sodium polyacrylate-modified polyacrylonitrile with excellent anti-dye-fouling property can effectively separate dyes from salts.

1A1-C04 Development of Low-Pressure Driven Pneumatic Actuator and Its Application to Multi-Finger Robot Hand

2006 ◽  
Vol 2006 (0) ◽  
pp. _1A1-C04_1-_1A1-C04_4 ◽  
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Shigeki SHIRAI ◽  
Shinya NISHINO ◽  
Tatsuwo KUDAWARA ◽  
...  
Keyword(s):  
Low Pressure ◽  
Pneumatic Actuator ◽  
Robot Hand ◽  
Pressure Driven

Application of low-pressure reverse osmosis membrane for Zn2+ and Cu2+ removal from wastewater

1996 ◽  
Vol 34 (9) ◽  
pp. 247-253 ◽  
Author(s):  
Z. Ujang ◽  
G. K. Anderson
Keyword(s):  
Metal Ions ◽  
Reverse Osmosis ◽  
Reliable Method ◽  
Low Pressure ◽  
Reverse Osmosis Membrane ◽  
Effective Removal ◽  
Removal Of Metal ◽  
Percentage Removal ◽  
Removal Of Metal Ions ◽  
Pressure Driven

Reverse osmosis (RO) is a pressure-driven operation which normally requires more than 690 kPa (100 psig) for effective removal of metal ions from their solvents. This paper, however, illustrates the feasibility of using complexation and low-pressure RO membranes for the removal of Zn2+ and Cu2+ by applying pressures significantly below 690 kPa. The results show that the use of EDTA is a reliable method for increasing the percentage removal of both Zn2+ and Cu2+ with sulphonated polysulphone RO membranes. The percentage removal of metal ions of Zn2+ was slightly greater than that for Cu2+.

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