Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application
Abstract
:1. Introduction
2. Materials and Methods
2.1. Multi-Material Pneumatic Actuator Design and Fabrication
2.2. Actuator Mathematical Model Design
2.3. Soft Robotic Finger Design and Fabrication
3. Result
3.1. Actuator Model for Material and Structural Parameter Analysis
3.2. Single Actuator Motion Range Analysis
3.3. Finger Motion Range Analysis
4. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Param. | Definition | Value |
---|---|---|
a | Bellow arch | 0.3 × 10−3 m |
h | Thickness of the rubber | 0.4 × 10−3 m |
t | Flank distance | 1 × 10−3 m |
ri | Representative radius of small chambers | 5 × 10−3 m |
r0 | Representative radius of large chambers | 8 × 10−3 m |
s | Thickness of the substrate | 8 × 10−3 m |
n | Number of bellows | 4 |
E1 | Young’s modulus of silicone rubber | 2 × 106 Pa [52] |
E2 | Different Young’s modulus of PDMS | (280–750 kPa) [53,54] |
P | Supply pressure | 100 kPa |
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Zhao, S.; Lei, Y.; Wang, Z.; Zhang, J.; Liu, J.; Zheng, P.; Gong, Z.; Sun, Y. Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application. Micromachines 2021, 12, 1593. https://doi.org/10.3390/mi12121593
Zhao S, Lei Y, Wang Z, Zhang J, Liu J, Zheng P, Gong Z, Sun Y. Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application. Micromachines. 2021; 12(12):1593. https://doi.org/10.3390/mi12121593
Chicago/Turabian StyleZhao, Shumi, Yisong Lei, Ziwen Wang, Jie Zhang, Jianxun Liu, Pengfei Zheng, Zidan Gong, and Yue Sun. 2021. "Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application" Micromachines 12, no. 12: 1593. https://doi.org/10.3390/mi12121593