Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials
Conducting research on soft robots is crucial as there are still many problems that need to be resolved in the areas of material selection, structure design and manufacture, and drive control. Soft manipulators, a subset of soft robots, are now a popular area of study for many researchers. In compar...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-06-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/4/94 |
| _version_ | 1797583261549985792 |
|---|---|
| author | Zhengyun Xu Haiqiang Liu Weihua Feng Huaming Yang Xin Nie Rougang Zhou |
| author_facet | Zhengyun Xu Haiqiang Liu Weihua Feng Huaming Yang Xin Nie Rougang Zhou |
| author_sort | Zhengyun Xu |
| collection | DOAJ |
| description | Conducting research on soft robots is crucial as there are still many problems that need to be resolved in the areas of material selection, structure design and manufacture, and drive control. Soft manipulators, a subset of soft robots, are now a popular area of study for many researchers. In comparison to typical manipulators, soft manipulators feature a high degree of gripping flexibility and a basic morphological structure. They are composed of flexible materials. They have a wide range of potential applications in healthcare, rehabilitation, bionics, and detection, and they can compensate for the drawbacks of rigid manipulators in some use scenarios. A modular soft-body torsional gripping system is developed after a torsional and gripping actuator is conceived and constructed, and its performance examined. The torsion actuator and the grasping actuator can be combined in the system in a modular fashion. With the help of RGB-D vision algorithms, this multi-modular setup makes it possible to combine soft actuators with various twisting degrees and achieve exact gripping. Through pneumatic control, the target object is precisely grasped and rotated at various angles, enabling the rotation of the target object in three dimensions. |
| first_indexed | 2024-03-10T23:36:23Z |
| format | Article |
| id | doaj.art-2d819b9b2020441a862076a5df56ee2d |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T23:36:23Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-2d819b9b2020441a862076a5df56ee2d2023-11-19T02:55:10ZengMDPI AGRobotics2218-65812023-06-011249410.3390/robotics12040094Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic MaterialsZhengyun Xu0Haiqiang Liu1Weihua Feng2Huaming Yang3Xin Nie4Rougang Zhou5School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, ChinaSchool of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, ChinaHangzhou Yuhang Water Affairs Holding Group Co., Ltd., Hangzhou 310012, ChinaHangzhou Yuhang Water Affairs Holding Group Co., Ltd., Hangzhou 310012, ChinaSchool of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, ChinaSchool of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, ChinaConducting research on soft robots is crucial as there are still many problems that need to be resolved in the areas of material selection, structure design and manufacture, and drive control. Soft manipulators, a subset of soft robots, are now a popular area of study for many researchers. In comparison to typical manipulators, soft manipulators feature a high degree of gripping flexibility and a basic morphological structure. They are composed of flexible materials. They have a wide range of potential applications in healthcare, rehabilitation, bionics, and detection, and they can compensate for the drawbacks of rigid manipulators in some use scenarios. A modular soft-body torsional gripping system is developed after a torsional and gripping actuator is conceived and constructed, and its performance examined. The torsion actuator and the grasping actuator can be combined in the system in a modular fashion. With the help of RGB-D vision algorithms, this multi-modular setup makes it possible to combine soft actuators with various twisting degrees and achieve exact gripping. Through pneumatic control, the target object is precisely grasped and rotated at various angles, enabling the rotation of the target object in three dimensions.https://www.mdpi.com/2218-6581/12/4/94soft actuatormodular designmachine visionflexible clamping technology |
| spellingShingle | Zhengyun Xu Haiqiang Liu Weihua Feng Huaming Yang Xin Nie Rougang Zhou Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials Robotics soft actuator modular design machine vision flexible clamping technology |
| title | Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials |
| title_full | Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials |
| title_fullStr | Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials |
| title_full_unstemmed | Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials |
| title_short | Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials |
| title_sort | design and performance analysis of a torsional soft actuator based on hyperelastic materials |
| topic | soft actuator modular design machine vision flexible clamping technology |
| url | https://www.mdpi.com/2218-6581/12/4/94 |
| work_keys_str_mv | AT zhengyunxu designandperformanceanalysisofatorsionalsoftactuatorbasedonhyperelasticmaterials AT haiqiangliu designandperformanceanalysisofatorsionalsoftactuatorbasedonhyperelasticmaterials AT weihuafeng designandperformanceanalysisofatorsionalsoftactuatorbasedonhyperelasticmaterials AT huamingyang designandperformanceanalysisofatorsionalsoftactuatorbasedonhyperelasticmaterials AT xinnie designandperformanceanalysisofatorsionalsoftactuatorbasedonhyperelasticmaterials AT rougangzhou designandperformanceanalysisofatorsionalsoftactuatorbasedonhyperelasticmaterials |