Static Modeling of the Fiber-Reinforced Soft Pneumatic Actuators Including Inner Compression: Bending in Free Space, Block Force, and Deflection upon Block Force

执行机构 材料科学 弯矩 压缩(物理) 弯曲 结构工程 软机器人 偏转(物理) 计算机科学 复合材料 工程类 物理 人工智能 经典力学
作者
Yi Sun,Hui Feng,Ian R. Manchester,Chen‐Hua Yeow,Peng Qi
出处
期刊:Soft robotics [Mary Ann Liebert, Inc.]
卷期号:9 (3): 451-472 被引量:18
标识
DOI:10.1089/soro.2020.0081
摘要

Fiber-reinforced soft pneumatic actuators (FR-SPAs) are among the most successful soft actuators in the soft robotics community considering their structural strength, motion range, and force output. Inspired by the pneumatic artificial muscle, the bending-type tubular SPAs have also been applied with fiber winding for body reinforcement and then utilized in many applications. Due to their superior utility and popularity, FR-SPAs have been extensively modeled using different methods. However, very little attention was given to the compression on the inner wall of the FR-SPAs by the compressed air. Furthermore, there is no unified modeling principle for bending, force output, and deflection of the FR-SPA. In this article, we take into account the inner compression and propose a static modeling approach based on the moment equilibrium for three important and frequently studied cases: free bending, block force, and deflection upon block force of the FR-SPA. Stress analysis of the material inside the fiber wall is conducted, which reveals the influence of radial compression by the input air. Then, the new stress expression is used in the moment equilibrium and results in the SPA models for the three aforementioned cases. The models are experimentally verified using SPAs featuring two profile designs and three different silicone rubbers. The results show that the placement of the fiber wall plays an important role in the SPA behavior. More importantly, the models successfully differentiate the two profiles and produce fairly accurate predictions of the bending angles, block forces, and deflections. The understanding of the compression effect offers a new variable in the FR-SPA design process, which can be used to tune the SPA properties for different applications.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
4秒前
buerzi完成签到,获得积分10
4秒前
魁梧的盼望完成签到 ,获得积分10
6秒前
量子星尘发布了新的文献求助30
7秒前
10秒前
wzk完成签到,获得积分10
11秒前
称心翠容完成签到,获得积分10
13秒前
LaixS完成签到,获得积分10
14秒前
尊敬代亦发布了新的文献求助10
15秒前
要笑cc完成签到,获得积分10
16秒前
青珊发布了新的文献求助10
18秒前
宣宣宣0733完成签到,获得积分10
18秒前
俊逸吐司完成签到 ,获得积分10
19秒前
ttxxcdx完成签到 ,获得积分10
20秒前
胡质斌完成签到,获得积分10
20秒前
充电宝应助科研通管家采纳,获得10
23秒前
24秒前
姚怜南完成签到,获得积分10
26秒前
青珊完成签到,获得积分10
28秒前
自觉石头完成签到 ,获得积分10
29秒前
VVTTWW完成签到 ,获得积分10
31秒前
感性的寄真完成签到 ,获得积分10
33秒前
zhang完成签到,获得积分10
36秒前
39秒前
比比谁的速度快应助zhang采纳,获得50
43秒前
绿袖子完成签到,获得积分10
45秒前
52秒前
刘刘完成签到 ,获得积分10
53秒前
执着夏岚完成签到 ,获得积分10
53秒前
Xzx1995完成签到 ,获得积分10
57秒前
Hululu完成签到 ,获得积分10
59秒前
淡然的芷荷完成签到 ,获得积分10
1分钟前
GT完成签到,获得积分10
1分钟前
qiancib202完成签到,获得积分10
1分钟前
量子星尘发布了新的文献求助10
1分钟前
等待的幼晴完成签到,获得积分10
1分钟前
负责灵萱完成签到 ,获得积分10
1分钟前
幽默的忆霜完成签到 ,获得积分10
1分钟前
1分钟前
1分钟前
高分求助中
【提示信息,请勿应助】关于scihub 10000
Les Mantodea de Guyane: Insecta, Polyneoptera [The Mantids of French Guiana] 3000
徐淮辽南地区新元古代叠层石及生物地层 3000
The Mother of All Tableaux: Order, Equivalence, and Geometry in the Large-scale Structure of Optimality Theory 3000
Handbook of Industrial Diamonds.Vol2 1100
Global Eyelash Assessment scale (GEA) 1000
Picture Books with Same-sex Parented Families: Unintentional Censorship 550
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 4038029
求助须知:如何正确求助?哪些是违规求助? 3575740
关于积分的说明 11373751
捐赠科研通 3305559
什么是DOI,文献DOI怎么找? 1819224
邀请新用户注册赠送积分活动 892652
科研通“疑难数据库(出版商)”最低求助积分说明 815022