Next Article in Journal
Highly-Sensitive Detection of Volatile Organic Compound Vapors by Electrospun PANI/P3TI/PMMA Fibers
Previous Article in Journal
Effect of Na2CO3 on the Microstructure and Macroscopic Properties and Mechanism Analysis of PVA/CMC Composite Film
Open AccessArticle

Performance Optimization of Polymer Fibre Actuators for Soft Robotics

The University of Sydney, Institute of Photonics and Optical Science (IPOS), School of Physics, Camperdown, NSW 2006, Australia
*
Author to whom correspondence should be addressed.
Polymers 2020, 12(2), 454; https://doi.org/10.3390/polym12020454 (registering DOI)
Received: 25 January 2020 / Revised: 11 February 2020 / Accepted: 12 February 2020 / Published: 14 February 2020
(This article belongs to the Section Polymer Applications)
Analytical modeling of soft pneumatic actuators constitutes a powerful tool for the systematic design and characterization of these key components of soft robotics. Here, we maximize the quasi-static bending angle of a soft pneumatic actuator by optimizing its cross-section for a fixed positive pressure inside it. We begin by formulating a general theoretical framework for the analytical calculation of the bending angle of pneumatic actuators with arbitrary cross-sections, which is then applied to an actuator made of a circular polymer tube and an asymmetric patch in the shape of a hollow-cylinder sector on its outer surface. It is shown that the maximal bending angle of this actuator can be achieved using a wide range of patches with different optimal dimensions and approximately the same cross-sectional area, which decreases with pressure. We also calculate the optimal dimensions of thin and small patches in thin pneumatic actuators. Our analytical results lead to clear design guidelines, which may prove useful for engineering and optimization of the key components of soft robotics with superior features.
Keywords: pneumatic actuators; polymer fibres; soft robotics; Young’s modulus; drawing soft polymers pneumatic actuators; polymer fibres; soft robotics; Young’s modulus; drawing soft polymers
MDPI and ACS Style

Rukhlenko, I.D.; Farajikhah, S.; Lilley, C.; Georgis, A.; Large, M.; Fleming, S. Performance Optimization of Polymer Fibre Actuators for Soft Robotics. Polymers 2020, 12, 454.

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.

Article Access Map by Country/Region

1
Back to TopTop