Next Article in Journal
Deep Learning Systems for Estimating Visual Attention in Robot-Assisted Therapy of Children with Autism and Intellectual Disability
Previous Article in Journal
Simple Reflex Controller for Decentralized Motor Coordination Based on Resonant Oscillation
Previous Article in Special Issue
Propulsion-Based Soft Robotic Actuation
Article Menu
Issue 2 (June) cover image

Export Article

Open AccessArticle
Robotics 2018, 7(2), 24; https://doi.org/10.3390/robotics7020024

A Structural Optimisation Method for a Soft Pneumatic Actuator

1
School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong 2522 NSW, Australia
2
ARC Centre of Excellence for Electromaterials Science, University of Wollongong, Wollongong 2522 NSW, Australia
*
Author to whom correspondence should be addressed.
Received: 12 April 2018 / Revised: 21 May 2018 / Accepted: 30 May 2018 / Published: 1 June 2018
Full-Text   |   PDF [5402 KB, uploaded 1 June 2018]   |  

Abstract

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. View Full-Text
Keywords: pneumatic actuators; soft robotics; FEM; simulation; design optimisation pneumatic actuators; soft robotics; FEM; simulation; design optimisation
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Hu, W.; Mutlu, R.; Li, W.; Alici, G. A Structural Optimisation Method for a Soft Pneumatic Actuator. Robotics 2018, 7, 24.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Robotics EISSN 2218-6581 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top