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ID 48952
FullText URL
Author
Ogura, Keiko
Abstract
Soft actuators driven by pneumatic pressure are promising actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, because they can ensure high safety for fragile objects from their low mechanical impedance. In this study, a new rubber pneumatic actuator made from silicone rubber was developed. Composed of one chamber and one air-supply tube, it can generate curling motion in two directions by using positive and negative pneumatic pressure. The rubber actuator, for generating bidirectional motion, was designed to achieve an efficient shape by nonlinear finite element method analysis, and was fabricated by a molding and rubber bonding process using excimer light. The fabricated actuator was able to generate curling motion in two directions successfully. The displacement and force characteristics of the actuator were measured by using a motion capture system and a load cell. As an example application of the actuator, a robotic soft hand with three actuators was constructed and its effectiveness was confirmed by experiments.
Keywords
Soft actuator
pneumatic actuator
bidirectional motion
nonlinear analysis
Published Date
2011
Publication Title
Advanced Robotics
Volume
volume25
Issue
issue9-10
Start Page
1311
End Page
1330
ISSN
0169-1864
Content Type
Journal Article
Project
Research Core for Interdisciplinary Sciences
Official Url
http://www.tandfonline.com/doi/abs/10.1163/016918611X574731
language
英語
Copyright Holders
© Koninklijke Brill NV, Leiden, 2011
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publisher
Refereed
True
DOI
Web of Sience KeyUT