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A Novel Inflatable Actuator Based on Simultaneous Eversion Retraction.

Juan M Alvarez-Palacio1, Eric Monteiro1, Alain Riwan2

  • 1PIMM, Arts et Metiers Institute of Technology, CNRS, Cnam, HESAM University, Paris, France.

Soft Robotics
|October 26, 2020
PubMed
Summary
This summary is machine-generated.

We developed a novel Simultaneous Eversion-Retraction Inflatable Actuator for long-range manipulators. This inflatable robotics actuator offers superior stroke and force distribution compared to existing designs.

Keywords:
experimental characterizationfinite elements simulationinflatable actuatorlong-range manipulator

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Materials Science

Background:

  • Inflatable robotics offers low-cost, transportable, and deployable structures with safe human/environmental interaction capabilities.
  • Actuation systems are critical for the development and functionality of inflatable robots.
  • Existing actuation methods may have limitations in stroke length and force distribution for complex applications like long-range manipulators.

Purpose of the Study:

  • To introduce and analyze a novel Simultaneous Eversion-Retraction Inflatable Actuator (SERIA).
  • To evaluate the performance of the SERIA for actuating an inflatable joint in a long-range manipulator.
  • To compare the SERIA's characteristics with existing inflatable actuator designs.

Main Methods:

  • Development of an analytical model to derive relations for total stroke and effective area of the SERIA.
  • Finite element simulations to validate the analytical model and assess actuator behavior.
  • Experimental validation through tensile tests on a prototype SERIA.

Main Results:

  • The analytical study provided simple relations for the actuator's stroke and effective area.
  • Finite element simulations and experimental tensile tests confirmed the analytical findings.
  • The proposed SERIA design demonstrated superior total stroke and improved force distribution over its entire range compared to existing concepts.

Conclusions:

  • The Simultaneous Eversion-Retraction Inflatable Actuator is a promising novel design for inflatable robotics.
  • The SERIA's enhanced performance makes it highly suitable for actuating long-reach inflatable arms.
  • This advancement contributes to the development of more capable and efficient inflatable robotic systems.