Experimental and numerical analysis on the bending response of the geometrically gradient soft robotics actuator

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Tarih

2018

Dergi Başlığı

Dergi ISSN

Cilt Başlığı

Yayıncı

Polish Academy of Sciences, Institute of Fundamental Technological Research

Erişim Hakkı

info:eu-repo/semantics/closedAccess

Özet

IN THIS STUDY, THREE DIFFERENT SOFT PNEUMATIC ACTUATORS (SPA) are designed and directly fabricated through additive manufacturing using thermoplastic polyurethane (TPU) filaments. The equal total inner volume size is used in the three varied designs to compare their effect on the bending response. A material model is selected and implemented according to the uniaxial tensile test parameters. The experimental results obtained from three different soft pneumatic actuators are compared with numerical model results. Especially, the experimentally measured bending forces are compared with the numerical model counterparts. The highest continuous bending deformation is determined among the three different soft pneumatic actuators. Additionally, a new integrated design and manufacturing approach is presented aiming to maximize the potential bending capability of the actuator through additive manufacturing.

Açıklama

Anahtar Kelimeler

Thermoplastic Elastomers, Bending Response, Soft Robotics Actuator, Additive Manufacturing, Hyperelastic Material Models

Kaynak

Archives of Mechanics

WoS Q Değeri

Q3

Scopus Q Değeri

Q3

Cilt

70

Sayı

5

Künye