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Open AccessArticle

The Design, Kinematics and Torque Analysis of the Self-Bending Soft Contraction Actuator

1
Computing, Science and Engineering, Salford University, Salford M5 4WT, UK
2
Computer Engineering Department, Basrah University, Basrah 61004, Iraq
*
Author to whom correspondence should be addressed.
Actuators 2020, 9(2), 33; https://doi.org/10.3390/act9020033
Received: 23 March 2020 / Revised: 26 April 2020 / Accepted: 27 April 2020 / Published: 29 April 2020
(This article belongs to the Special Issue Pneumatic Soft Actuators)
This article presents the development of a self-bending contraction actuator (SBCA) through the analysis of its structure, kinematics, and torque formulas, and then explores its applications. The proposed actuator has been fabricated by two methods to prove the efficiency of the human body inspiration, which represents the covering of human bones by soft tissues to protect the bone and give the soft texture. The SBCA provides bending behaviour along with a high force-to-weight ratio. As with the simple pneumatic muscle actuator (PMA), the SBCA is soft and easy to implement. Both the kinematics and the torque formula presented for the SBCA are scalable and can be used with different actuator sizes. The bending actuator has been tested under an air pressure of up to 500 kPa, and the behaviour of its bending angle, parameters, dimensions, and the bending torques have been illustrated. On the other hand, the experiments showed the efficient performances of the actuator and validate the proposed kinematics. Therefore, the actuator can be used in many different applications, such as soft grippers and continuum arms. View Full-Text
Keywords: soft robotics; pneumatic muscle actuators (PMA); self-bending contraction actuator (SBCA); kinematics; torque formula soft robotics; pneumatic muscle actuators (PMA); self-bending contraction actuator (SBCA); kinematics; torque formula
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MDPI and ACS Style

Al-Ibadi, A.; Nefti-Meziani, S.; Davis, S. The Design, Kinematics and Torque Analysis of the Self-Bending Soft Contraction Actuator. Actuators 2020, 9, 33.

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