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

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	Design and Analysis of a Novel Soft Bending Actuator Based on Eccentric Structure
	Li K(李凯)1,2,3; Zhang DH(张道辉)1,2; Zhao XG(赵新刚)1,2; Chu YQ(褚亚奇)1,2,3
	2021
会议日期	July 27-31, 2021
会议地点	Jiaxing, China
页码	49-54
英文摘要	Due to safe interaction and intrinsic compliance, soft actuators have been developed in robotics around the world, and robots composed of soft actuators have been widely used in many fields such as grasping. However, for the fiber-reinforced actuators (FRAs), the non-circular design of cavity structure causes the problem of stress concentration, which can impact the performance of the soft actuators. In this paper, the eccentric soft bending actuators (ESBAs) with circular cavities were proposed to solve the problem and improve the performance. Particularly, the proposed actuators can be fabricated and assembled modularly with customized design of molds and terminal connectors, which can increase the repeatability and consistency of the actuators. To quantify the performance of the ESBAs, the bending angles and output forces are measured. Experimental results show that the maximum bending angle and output force of the proposed ESBAs could reach 131.6° and 1.5N at 190kPa, respectively. Additionally, comparative experiments on the performance of the ESBAs designed of cavity structure with different parameters were carried out to obtain the optimal ESBAs structure. Furthermore, a three-jaw soft gripper consisted of the ESBAs was developed and its grasping performance was also tested. The results showed that the proposed actuators had potential application in the manipulation of the soft gripper. © 2021 IEEE.
源文献作者	IEEE Robotics and Automation Society ; Shenyang Institute of Automation CAS ; Shenzhen Academy of Robotics
产权排序	1
会议录	2021 IEEE 11th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2642-6633
ISBN号	978-1-6654-2527-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29932]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Zhao XG(赵新刚)
作者单位	1.Institute for Robotics and Intelligent Manufacturing, Shenyang 110016, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	Li K,Zhang DH,Zhao XG,et al. Design and Analysis of a Novel Soft Bending Actuator Based on Eccentric Structure[C]. 见:. Jiaxing, China. July 27-31, 2021.