Affiliation:
1. College of Mechanical Engineering, Jiangsu University of Technology, Changzhou, China
2. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
Abstract
This article presents a novel bidirectional parallel-chamber soft actuator that improves the end-effector grasping force by adding a row of chambers at both ends of its longitudinal chambers. A mathematical model of the bending behavior of the longitudinal chambers of the actuator is established using the piecewise constant curvature assumption, and the bending properties, gripping force, and contact area of the end wrap were analyzed for the longitudinal and transverse chambers of the actuator. Compared to traditional soft actuators, the proposed bidirectional parallel-chamber actuator provides 1.78 N of grasping force at the end due to longitudinal bending, and 1 N of grasping force at the tail due to transverse bending. To validate the simulation results, a testing platform is built to measure the bending angle and output force of the actuator experimentally. Finally, a two-fingered soft gripper is developed to verify the mathematical model and simulation results, and is tested in grasping objects with diameters ranging from 0 to 250 mm and weights up to 1450 g.
Funder
General Program of National Natural Science Foundation of China
Jiangsu Province(University) Postgraduate Practice Innovation Program Project
National Natural Science Foundation of China
Technology Project of Changzhou