Leveraging pleat folds and soft compliant elements in inflatable fabric beams
Inflatable fabric beams (IFBs) integrating pleat folds can generate complex motion by modifying the pleat characteristics (e.g., dimensions, orientations). However, the capability of the IFB to return to the folded configuration relies upon the elasticity of the fabrics, requiring additional pressur...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2024-01-01
|
| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1267642/full |
| _version_ | 1797356930839085056 |
|---|---|
| author | Juan J. Huaroto Etsel Suarez Wangdo Kim Emir A. Vela Emir A. Vela |
| author_facet | Juan J. Huaroto Etsel Suarez Wangdo Kim Emir A. Vela Emir A. Vela |
| author_sort | Juan J. Huaroto |
| collection | DOAJ |
| description | Inflatable fabric beams (IFBs) integrating pleat folds can generate complex motion by modifying the pleat characteristics (e.g., dimensions, orientations). However, the capability of the IFB to return to the folded configuration relies upon the elasticity of the fabrics, requiring additional pressure inputs or complementary mechanisms. Using soft compliant elements (SCEs) assembled onto pleat folds is an appealing approach to improving the IFB elasticity and providing a range of spatial configurations when pressurized. This study introduces an actuator comprising an IFB with pleat folds and SCEs. By methodologically assembling the SCEs onto the pleat folds, we constrain the IFB unfolding to achieve out-of-plane motion at 5 kPa. Besides, the proposed actuator can generate angular displacement by regulating the input pressure (> 5 kPa). A matrix-based representation and model are proposed to analyze the actuator motion. We experimentally study the actuator’s angular displacement by modifying SCE shapes, fold dimensions, and assembly distances of SCEs. Moreover, we analyze the effects of incorporating two SCEs onto a pleat fold. Our results show that the actuator motion can be tuned by integrating SCEs with different stiffness and varying the pleat fold dimensions. In addition, we demonstrate that the integration of two SCEs onto the pleat fold permits the actuator to return to its folded configuration when depressurized. In order to demonstrate the versatility of the proposed actuator, we devise and conduct experiments showcasing the implementation of a planar serial manipulator and a soft gripper with two grasping modalities. |
| first_indexed | 2024-03-08T14:36:55Z |
| format | Article |
| id | doaj.art-159c6bc4d8e944d680871c5949dbf061 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-03-08T14:36:55Z |
| publishDate | 2024-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-159c6bc4d8e944d680871c5949dbf0612024-01-12T04:16:22ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442024-01-011010.3389/frobt.2023.12676421267642Leveraging pleat folds and soft compliant elements in inflatable fabric beamsJuan J. Huaroto0Etsel Suarez1Wangdo Kim2Emir A. Vela3Emir A. Vela4Department of Mechanical Engineering, Universidad Nacional de Ingenieria, Lima, PeruDepartment of Mechanical Engineering, Universidad Nacional de Ingenieria, Lima, PeruDepartment of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, PeruDepartment of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, PeruResearch Center in Bioengineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, PeruInflatable fabric beams (IFBs) integrating pleat folds can generate complex motion by modifying the pleat characteristics (e.g., dimensions, orientations). However, the capability of the IFB to return to the folded configuration relies upon the elasticity of the fabrics, requiring additional pressure inputs or complementary mechanisms. Using soft compliant elements (SCEs) assembled onto pleat folds is an appealing approach to improving the IFB elasticity and providing a range of spatial configurations when pressurized. This study introduces an actuator comprising an IFB with pleat folds and SCEs. By methodologically assembling the SCEs onto the pleat folds, we constrain the IFB unfolding to achieve out-of-plane motion at 5 kPa. Besides, the proposed actuator can generate angular displacement by regulating the input pressure (> 5 kPa). A matrix-based representation and model are proposed to analyze the actuator motion. We experimentally study the actuator’s angular displacement by modifying SCE shapes, fold dimensions, and assembly distances of SCEs. Moreover, we analyze the effects of incorporating two SCEs onto a pleat fold. Our results show that the actuator motion can be tuned by integrating SCEs with different stiffness and varying the pleat fold dimensions. In addition, we demonstrate that the integration of two SCEs onto the pleat fold permits the actuator to return to its folded configuration when depressurized. In order to demonstrate the versatility of the proposed actuator, we devise and conduct experiments showcasing the implementation of a planar serial manipulator and a soft gripper with two grasping modalities.https://www.frontiersin.org/articles/10.3389/frobt.2023.1267642/fullsoft roboticsinflatable fabric beampleat foldssoft compliant elementsfabric actuators |
| spellingShingle | Juan J. Huaroto Etsel Suarez Wangdo Kim Emir A. Vela Emir A. Vela Leveraging pleat folds and soft compliant elements in inflatable fabric beams Frontiers in Robotics and AI soft robotics inflatable fabric beam pleat folds soft compliant elements fabric actuators |
| title | Leveraging pleat folds and soft compliant elements in inflatable fabric beams |
| title_full | Leveraging pleat folds and soft compliant elements in inflatable fabric beams |
| title_fullStr | Leveraging pleat folds and soft compliant elements in inflatable fabric beams |
| title_full_unstemmed | Leveraging pleat folds and soft compliant elements in inflatable fabric beams |
| title_short | Leveraging pleat folds and soft compliant elements in inflatable fabric beams |
| title_sort | leveraging pleat folds and soft compliant elements in inflatable fabric beams |
| topic | soft robotics inflatable fabric beam pleat folds soft compliant elements fabric actuators |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2023.1267642/full |
| work_keys_str_mv | AT juanjhuaroto leveragingpleatfoldsandsoftcompliantelementsininflatablefabricbeams AT etselsuarez leveragingpleatfoldsandsoftcompliantelementsininflatablefabricbeams AT wangdokim leveragingpleatfoldsandsoftcompliantelementsininflatablefabricbeams AT emiravela leveragingpleatfoldsandsoftcompliantelementsininflatablefabricbeams AT emiravela leveragingpleatfoldsandsoftcompliantelementsininflatablefabricbeams |