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Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper
Joint Authors
Udupa, Ganesha
Sreedharan, Pramod
Sai Dinesh, P.
Kim, Doik
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-12-03
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
The necessity of the soft gripping devices is increasing day-by-day in medical robotics especially when safe, gentle motions and soft touch are necessary.
In this paper, a novel asymmetric bellow flexible pneumatic actuator (AFPA) has been designed and fabricated to construct a miniaturised soft gripper that could be used to grip small objects.
The model of AFPA is designed using solid works and its bending motion is simulated in Abaqus software for optimisation and compared with experimental results.
The actuator is fabricated using compression molding process that includes micromachining of the molds.
Experiments conducted show the bending characteristics of the actuator at different pressures.
The actuator shows excellent bending performance and the eccentricity in its design supports increased bending or curling motion up to a certain extent compared to normal bellows without eccentricity.
The effects of profile shape and eccentricity on the actuator performance are analysed and the results are presented.
American Psychological Association (APA)
Udupa, Ganesha& Sreedharan, Pramod& Sai Dinesh, P.& Kim, Doik. 2014. Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper. Journal of Robotics،Vol. 2014, no. 2014, pp.1-11.
https://search.emarefa.net/detail/BIM-1042884
Modern Language Association (MLA)
Udupa, Ganesha…[et al.]. Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper. Journal of Robotics No. 2014 (2014), pp.1-11.
https://search.emarefa.net/detail/BIM-1042884
American Medical Association (AMA)
Udupa, Ganesha& Sreedharan, Pramod& Sai Dinesh, P.& Kim, Doik. Asymmetric Bellow Flexible Pneumatic Actuator for Miniature Robotic Soft Gripper. Journal of Robotics. 2014. Vol. 2014, no. 2014, pp.1-11.
https://search.emarefa.net/detail/BIM-1042884
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042884