Computational and Experimental Design Exploration of 3D‐Printed Soft Pneumatic Actuators
Soft robotics are known for their unique advantages over conventional rigid robotics, which include safer human–machine interaction, delicate handling of fragile items, and greater durability. Soft robotic actuators are essential components in soft robots as they produce the organic motions that rig...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-07-01
|
| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202000013 |
| _version_ | 1828552838545932288 |
|---|---|
| author | Kahraman G. Demir Zhizhou Zhang Jehan Yang Grace X. Gu |
| author_facet | Kahraman G. Demir Zhizhou Zhang Jehan Yang Grace X. Gu |
| author_sort | Kahraman G. Demir |
| collection | DOAJ |
| description | Soft robotics are known for their unique advantages over conventional rigid robotics, which include safer human–machine interaction, delicate handling of fragile items, and greater durability. Soft robotic actuators are essential components in soft robots as they produce the organic motions that rigid robotic actuators have difficulty in mimicking. Pneumatic actuators (PAs) are a type of soft robotic actuator that utilizes pneumatic pressure for actuation and are commonly used; however, the relationship between their design and actuation performance is not well understood. Herein, a cubic kernelized support vector regression (SVR) model based on finite element analysis is used to explore the design space of bending PAs with respect to their bending angles through the investigation of the dependencies between different design parameters. The model obtained from the SVR is then tested by experimentally comparing the bending angle of different 3D‐printed PAs from within the design space. The bending torque, an indicator of the actuation force of the PA, is also measured and compared for different design configurations. This study provides a computational and experimental framework and paves the way for future work on PAs, which has the potential to greatly propel the advancement of soft robotics. |
| first_indexed | 2024-12-12T05:08:24Z |
| format | Article |
| id | doaj.art-264b5e02921140be9e379c3696666165 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-12-12T05:08:24Z |
| publishDate | 2020-07-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-264b5e02921140be9e379c36966661652022-12-22T00:37:01ZengWileyAdvanced Intelligent Systems2640-45672020-07-0127n/an/a10.1002/aisy.202000013Computational and Experimental Design Exploration of 3D‐Printed Soft Pneumatic ActuatorsKahraman G. Demir0Zhizhou Zhang1Jehan Yang2Grace X. Gu3Department of Mechanical Engineering University of California Berkeley CA 94720-1740 USADepartment of Mechanical Engineering University of California Berkeley CA 94720-1740 USADepartment of Mechanical Engineering University of California Berkeley CA 94720-1740 USADepartment of Mechanical Engineering University of California Berkeley CA 94720-1740 USASoft robotics are known for their unique advantages over conventional rigid robotics, which include safer human–machine interaction, delicate handling of fragile items, and greater durability. Soft robotic actuators are essential components in soft robots as they produce the organic motions that rigid robotic actuators have difficulty in mimicking. Pneumatic actuators (PAs) are a type of soft robotic actuator that utilizes pneumatic pressure for actuation and are commonly used; however, the relationship between their design and actuation performance is not well understood. Herein, a cubic kernelized support vector regression (SVR) model based on finite element analysis is used to explore the design space of bending PAs with respect to their bending angles through the investigation of the dependencies between different design parameters. The model obtained from the SVR is then tested by experimentally comparing the bending angle of different 3D‐printed PAs from within the design space. The bending torque, an indicator of the actuation force of the PA, is also measured and compared for different design configurations. This study provides a computational and experimental framework and paves the way for future work on PAs, which has the potential to greatly propel the advancement of soft robotics.https://doi.org/10.1002/aisy.202000013computational analysisfinite element methodpneumaticssoft robotics3D printing |
| spellingShingle | Kahraman G. Demir Zhizhou Zhang Jehan Yang Grace X. Gu Computational and Experimental Design Exploration of 3D‐Printed Soft Pneumatic Actuators Advanced Intelligent Systems computational analysis finite element method pneumatics soft robotics 3D printing |
| title | Computational and Experimental Design Exploration of 3D‐Printed Soft Pneumatic Actuators |
| title_full | Computational and Experimental Design Exploration of 3D‐Printed Soft Pneumatic Actuators |
| title_fullStr | Computational and Experimental Design Exploration of 3D‐Printed Soft Pneumatic Actuators |
| title_full_unstemmed | Computational and Experimental Design Exploration of 3D‐Printed Soft Pneumatic Actuators |
| title_short | Computational and Experimental Design Exploration of 3D‐Printed Soft Pneumatic Actuators |
| title_sort | computational and experimental design exploration of 3d printed soft pneumatic actuators |
| topic | computational analysis finite element method pneumatics soft robotics 3D printing |
| url | https://doi.org/10.1002/aisy.202000013 |
| work_keys_str_mv | AT kahramangdemir computationalandexperimentaldesignexplorationof3dprintedsoftpneumaticactuators AT zhizhouzhang computationalandexperimentaldesignexplorationof3dprintedsoftpneumaticactuators AT jehanyang computationalandexperimentaldesignexplorationof3dprintedsoftpneumaticactuators AT gracexgu computationalandexperimentaldesignexplorationof3dprintedsoftpneumaticactuators |