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Article

Design Methodology for a Novel Bending Pneumatic Soft Actuator for Kinematically Mirroring the Shape of Objects

Dipartimento di Ingegneria Industriale e dell’Informazione e di Economia, Università degli Studi dell’Aquila, P.le Pontieri Monteluco di Roio, 67100 L’Aquila, Italy
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Actuators 2020, 9(4), 113; https://doi.org/10.3390/act9040113
Received: 12 October 2020 / Revised: 4 November 2020 / Accepted: 6 November 2020 / Published: 10 November 2020
(This article belongs to the Section Actuators for Robotics)
In the landscape of Industry 4.0, advanced robotics awaits a growing use of bioinspired adaptive and flexible robots. Collaborative robotics meets this demand. Due to human–robot coexistence and interaction, the safety, the first requirement to be satisfied, also depends on the end effectors. End effectors made of soft actuators satisfy this requirement. A novel pneumatic bending soft actuator with high compliance, low cost, high versatility and easy production is here proposed. Conceived to be used as a finger of a collaborative robot, it is made of a hyper-elastic inner tube wrapped in a gauze. The bending is controlled by cuts in the gauze: the length and the angular extension of them, the pressure value and the dimensions of the inner tube determine the bending amplitude and avoid axial elongation. A design methodology, oriented to kinematically mirror the shape of the object to be grasped, was defined. Firstly, it consists of the development of a non-linear parametric numerical model of a bioinspired finger; then, the construction of a prototype for the experimental validation of the numerical model was performed. Hence, a campaign of simulations led to the definition of a qualitatively predictive formula, the basis for the design methodology. The effectiveness of the latter was evaluated for a real case: an actuator for the grasping of a light bulb was designed and experimentally tested. View Full-Text
Keywords: bioinspired robotic finger; pneumatic soft actuator; finite element model; design methodology; collaborative robotics; experimental validation bioinspired robotic finger; pneumatic soft actuator; finite element model; design methodology; collaborative robotics; experimental validation
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MDPI and ACS Style

Antonelli, M.G.; Beomonte Zobel, P.; D’Ambrogio, W.; Durante, F. Design Methodology for a Novel Bending Pneumatic Soft Actuator for Kinematically Mirroring the Shape of Objects. Actuators 2020, 9, 113. https://doi.org/10.3390/act9040113

AMA Style

Antonelli MG, Beomonte Zobel P, D’Ambrogio W, Durante F. Design Methodology for a Novel Bending Pneumatic Soft Actuator for Kinematically Mirroring the Shape of Objects. Actuators. 2020; 9(4):113. https://doi.org/10.3390/act9040113

Chicago/Turabian Style

Antonelli, Michele G., Pierluigi Beomonte Zobel, Walter D’Ambrogio, and Francesco Durante. 2020. "Design Methodology for a Novel Bending Pneumatic Soft Actuator for Kinematically Mirroring the Shape of Objects" Actuators 9, no. 4: 113. https://doi.org/10.3390/act9040113

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