Design and Analysis of Pneumatic Bending Actuator Used in Soft Robotics

Author:

Wang Xu Dong1,Chen Heng Wei2,Wang Liao1,Zhou Wen2,Li Yi Qing3

Affiliation:

1. Xi’an Jiaotong University

2. State Key Laboratory for Manufacturing and Systems Engineering

3. Xi’an Technological University

Abstract

Pneumatic soft actuators can change their shapes under pneumatic pressure actuation and are capable of continuous bending. However, the air chambers inside will expand during the actuation process and cause nonlinear problems. Therefore pneumatic actuators are difficulties to model. In this paper, three types of bending actuators with different air chamber shapes are designed and the finite element model (FEM) is developed to simulate the deformation under different air pressure actuation. A prototype of the bending actuator is fabricated and a method to limit the expansion of the air chamber is designed based on the FEM results, which can effectively improve the expansion and the response of the actuator under low air pressure conditions through experimental comparison.

Publisher

Trans Tech Publications Ltd

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