Kinetostatic Analysis of Pneumatic Bending Soft Actuator Coupling With Revolute Joint

被引：1
|
作者：
Wang, Jiangbei [1 ]
Wang, Yuxuan [1 ]
Fei, Yanqiong [2 ,3 ]
Chen, Weidong [3 ]
机构：
[1] Shanghai Jiao Tong Univ, Res Inst Robot, Shanghai 200240, Peoples R China
[2] ShenZhen Res Inst, Res Inst Robot, Shanghai 200240, Peoples R China
[3] Shanghai Jiao Tong Univ, Inst & Med Robot, Shanghai 200240, Peoples R China
来源：
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2023年 / 15卷 / 06期
基金：
中国国家自然科学基金;
关键词：
compliant mechanisms; multi-body dynamics and exoskeletons; soft robots; wearable robots; DESIGN;
D O I：
10.1115/1.4056503
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents the kinetostatic analysis of pneumatic bending soft actuator coupling with revolute joint, aimed to discover the bending performance of soft actuator wearing on physical joint of human body as exoskeleton. First, a new pneumatic bidirectional bending soft actuator is designed and its mechanical characteristic is obtained by experimental tests. Then, the kinetostatic analysis based on the principle of virtual work is conducted on the proposed soft actuator in the cases of bending alone and coupling with revolute joint. Finally, the kinetostatic equations are solved, and thus the bending performance of the soft actuator bending alone or coupling with revolute joint is obtained. This research mainly reveals the influence of coupling constraint on bending motions of soft actuator and lays a theoretical foundation for the pneumatic bending soft actuator to be applied in assist exoskeletons.
引用
收藏
页数：10
相关论文
共 50 条
  • [1] Pneumatic Bending Soft Actuator Coupling With Revolute Joint With Different Boundary Constraints
    Wang, Jiangbei
    Wang, Yuxuan
    Fei, Yanqiong
    Chen, Weidong
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2023, 28 (03) : 1245 - 1255
  • [2] Analysis And Research Based On Soft Bending Pneumatic Actuator
    Zhou, Xinliang
    Jiang, Xuemei
    PROCEEDINGS OF 2019 IEEE 3RD INFORMATION TECHNOLOGY, NETWORKING, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (ITNEC 2019), 2019, : 2329 - 2333
  • [3] Development of a Finger Soft Pneumatic Bending Actuator
    Enojas, Mark Joseph B.
    Ramos, Manuel C., Jr.
    2019 4TH ASIA-PACIFIC CONFERENCE ON INTELLIGENT ROBOT SYSTEMS (ACIRS 2019), 2019, : 1 - 5
  • [4] Development of Forceps Manipulator Using Pneumatic Soft Actuator for a Bending Joint of Forceps Tip
    Hisatomi, Rei
    Kanno, Takahiro
    Miyazaki, Tetsuro
    Kawase, Toshihiro
    Kawashima, Kenji
    2019 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2019, : 695 - 700
  • [5] Stress and bending analysis of a soft pneumatic actuator considering different hyperelastic materials
    Gariya, Narendra
    Kumar, Pushpendra
    Prasad, Brijesh
    MATERIALS TODAY-PROCEEDINGS, 2022, 65 : 3126 - 3131
  • [6] A systematically derived design for a modular pneumatic soft bending actuator
    Lamping, Frederik
    Muller, Daniel
    de Payrebrune, Kristin M.
    2022 IEEE 5TH INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT), 2022, : 41 - 47
  • [7] Analysis and modeling of nonlinear saturated behavior of layer jamming soft pneumatic bending actuator
    Khaloujini, Amirmasood
    Rad, Pouya Firuzy
    Ghafarirad, Hamed
    Azimi, Ali
    SMART MATERIALS AND STRUCTURES, 2025, 34 (03)
  • [8] Soft Pneumatic Bending Actuator with Integrated Carbon Nanotube Displacement Sensor
    Giffney, Tim
    Xie, Mengying
    Yong, Aaron
    Wong, Andrew
    Mousset, Philippe
    McDaid, Andrew
    Aw, Kean
    ROBOTICS, 2016, 5 (01)
  • [9] Design and Control of a Soft Bending Pneumatic Actuator Based on Visual Feedback
    Ru, Hongge
    Huang, Jian
    Chen, Wenbin
    Xiong, Caihua
    Wang, Junzhe
    2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2018, : 26 - 31
  • [10] Design of soft pneumatic bending actuator based on principal stress line
    Xie S.
    Ding L.
    Dai N.
    Fan X.
    Cheng X.
    Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS, 2021, 27 (03): : 663 - 671
12345