Structural and Mechanical Characteristics of a Capsule-Type Soft Pneumatic Actuator with Large Thrust Force and High-Contraction Ratio
Joint Authors
Wang, Xingsong
Zhu, Qing
Liu, Qingyun
Yang, Mingxing
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-04-30
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
A capsule-type soft pneumatic actuator (CTSPA) was molded with hyperelastic material (latex) and subjected to deformations.
In order to provide a large thrust force and limit the direction of expansion and contraction, the actuator was covered by fiber materials and driven by compressed air.
Soft pneumatic actuator, belonging to flexible drive, showed nonlinear characteristics.
In this study, with theoretical and experimental methods, a static mathematical model of CTSPA was established to analyze the relationship between the inflation pressure, driving force, and deformations.
Furthermore, we experimentally explored the response characteristics of CTSPA by using a unit step function.
The hysteresis was significantly affected by air pressure, loading size, and effective contact area of the actuator.
Finally, the actuator realized a compatible position tracking performance of 1 Hz and a low average tracking error of 0.3°.
The study provides a basis for studying the control methods and state maintenance of flexible drive systems.
American Psychological Association (APA)
Zhu, Qing& Liu, Qingyun& Yang, Mingxing& Wang, Xingsong. 2020. Structural and Mechanical Characteristics of a Capsule-Type Soft Pneumatic Actuator with Large Thrust Force and High-Contraction Ratio. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1196260
Modern Language Association (MLA)
Zhu, Qing…[et al.]. Structural and Mechanical Characteristics of a Capsule-Type Soft Pneumatic Actuator with Large Thrust Force and High-Contraction Ratio. Mathematical Problems in Engineering No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1196260
American Medical Association (AMA)
Zhu, Qing& Liu, Qingyun& Yang, Mingxing& Wang, Xingsong. Structural and Mechanical Characteristics of a Capsule-Type Soft Pneumatic Actuator with Large Thrust Force and High-Contraction Ratio. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1196260
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1196260