A Structural Optimisation Method for a Soft Pneumatic Actuator
This study aims to investigate the effects of various design parameters on the actuation performance of a pneumatic network actuator (PNA), optimise its structure using the finite element method (FEM), and subsequently quantify the performance of the resulting actuator topology experimentally. The e...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-06-01
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| Series: | Robotics |
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| Online Access: | http://www.mdpi.com/2218-6581/7/2/24 |
| _version_ | 1817987262913183744 |
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| author | Weiping Hu Rahim Mutlu Weihua Li Gursel Alici |
| author_facet | Weiping Hu Rahim Mutlu Weihua Li Gursel Alici |
| author_sort | Weiping Hu |
| collection | DOAJ |
| description | This study aims to investigate the effects of various design parameters on the actuation performance of a pneumatic network actuator (PNA), optimise its structure using the finite element method (FEM), and subsequently quantify the performance of the resulting actuator topology experimentally. The effects of the structural parameters, including the operation pressure, the wall thickness and the gap between the chambers, bottom layer thickness, and the geometry of the channel cross section, on the deformation and bending angle of the actuator were evaluated to optimise the performance of the pneumatic actuator. A Global Analysis of Variance (ANOVA) was performed to investigate how the variables affect the mechanical output of the actuator and, thus, the significance of variables affecting the deformation (and bending angle) of the pneumatic actuator was identified. After the parameter optimisation, a pneumatic channel with a 4.5 mm bottom layer thickness, 1.5 mm wall thickness, and 1.5 mm gap between sequential chambers is recommended to perform optimised bending motion for the pneumatic network actuator. The optimised FE model results were verified experimentally. This design optimisation method based on the FEM and ANOVA analysis can be extended to the topology optimisation of other soft actuators. |
| first_indexed | 2024-04-14T00:19:46Z |
| format | Article |
| id | doaj.art-289f285217f64a83b0a182312ab6b89f |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-14T00:19:46Z |
| publishDate | 2018-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-289f285217f64a83b0a182312ab6b89f2022-12-22T02:23:00ZengMDPI AGRobotics2218-65812018-06-01722410.3390/robotics7020024robotics7020024A Structural Optimisation Method for a Soft Pneumatic ActuatorWeiping Hu0Rahim Mutlu1Weihua Li2Gursel Alici3School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong 2522 NSW, AustraliaSchool of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong 2522 NSW, AustraliaSchool of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong 2522 NSW, AustraliaSchool of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong 2522 NSW, AustraliaThis study aims to investigate the effects of various design parameters on the actuation performance of a pneumatic network actuator (PNA), optimise its structure using the finite element method (FEM), and subsequently quantify the performance of the resulting actuator topology experimentally. The effects of the structural parameters, including the operation pressure, the wall thickness and the gap between the chambers, bottom layer thickness, and the geometry of the channel cross section, on the deformation and bending angle of the actuator were evaluated to optimise the performance of the pneumatic actuator. A Global Analysis of Variance (ANOVA) was performed to investigate how the variables affect the mechanical output of the actuator and, thus, the significance of variables affecting the deformation (and bending angle) of the pneumatic actuator was identified. After the parameter optimisation, a pneumatic channel with a 4.5 mm bottom layer thickness, 1.5 mm wall thickness, and 1.5 mm gap between sequential chambers is recommended to perform optimised bending motion for the pneumatic network actuator. The optimised FE model results were verified experimentally. This design optimisation method based on the FEM and ANOVA analysis can be extended to the topology optimisation of other soft actuators.http://www.mdpi.com/2218-6581/7/2/24pneumatic actuatorssoft roboticsFEMsimulationdesign optimisation |
| spellingShingle | Weiping Hu Rahim Mutlu Weihua Li Gursel Alici A Structural Optimisation Method for a Soft Pneumatic Actuator Robotics pneumatic actuators soft robotics FEM simulation design optimisation |
| title | A Structural Optimisation Method for a Soft Pneumatic Actuator |
| title_full | A Structural Optimisation Method for a Soft Pneumatic Actuator |
| title_fullStr | A Structural Optimisation Method for a Soft Pneumatic Actuator |
| title_full_unstemmed | A Structural Optimisation Method for a Soft Pneumatic Actuator |
| title_short | A Structural Optimisation Method for a Soft Pneumatic Actuator |
| title_sort | structural optimisation method for a soft pneumatic actuator |
| topic | pneumatic actuators soft robotics FEM simulation design optimisation |
| url | http://www.mdpi.com/2218-6581/7/2/24 |
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