Next Article in Journal
Multi-Modal Sensing and Robotic Manipulation of Non-Rigid Objects: A Survey
Previous Article in Journal
Novel Design and Position Control Strategy of a Soft Robot Arm
Previous Article in Special Issue
Design, Kinematics and Controlling a Novel Soft Robot Arm with Parallel Motion
Article Menu
Issue 4 (December) cover image

Export Article

Open AccessArticle
Robotics 2018, 7(4), 73; https://doi.org/10.3390/robotics7040073

Vacuum-Actuated Bending for Grasping

Schlumberger-Doll Research, 1 Hampshire St., Cambridge, MA 02139, USA
*
Author to whom correspondence should be addressed.
Now a Senior Associate with Exponent, 9 Strathmore Road, Natick, MA 01760, USA.
Received: 19 October 2018 / Revised: 9 November 2018 / Accepted: 13 November 2018 / Published: 16 November 2018
(This article belongs to the Special Issue Soft Machines: Integrating Sensing, Actuation and Computation)
  |  
PDF [736 KB, uploaded 16 November 2018]
  |  

Abstract

Soft robotic devices typically are actuated with the application of a positive pressure (compared to ambient pressure), but some exciting work has been done with negative pressure application, with advantages for safety and robustness. Here, we present a negative pressure bending actuator inspired by previous work by Yang et al., fabricated using rapid prototyping techniques and elastomeric polymers. We describe the mechanical behavior of the system from a cellular solids perspective, showing the steps needed for the analysis and characterization of future similar systems. We find good agreement between experimentally measured values of displacement and force generated in atmospheric pressure conditions. View Full-Text
Keywords: soft robotics; soft actuators; soft sensors; manipulation; cellular solids; mechanics of slender objects soft robotics; soft actuators; soft sensors; manipulation; cellular solids; mechanics of slender objects
Figures

Graphical abstract

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

Miller, J.T.; Wicks, N. Vacuum-Actuated Bending for Grasping. Robotics 2018, 7, 73.

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