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Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
Published on: August 17, 2018
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Experimental study on a bending type soft pneumatic actuator for minimizing the ballooning using
Narendra Gariya1, Pushpendra Kumar1, Tej Singh2
1Department of Mechanical Engineering, Graphic Era Deemed to Be University, Dehradun, 248002, Uttarakhand, India.
Heliyon
|April 7, 2023
Summary
This study analyzes soft pneumatic actuators (SPAs) for safe human interaction. A novel chamber-reinforcement method minimizes ballooning, ensuring uniform bending for applications like medical devices and prosthetics.
Area of Science:
- Soft robotics
- Biomedical engineering
- Materials science
Background:
- Soft robotics offers safe human interaction, with applications in wearable medical devices and prosthetics.
- Soft actuators are essential for desired movements like bending, expansion, contraction, and twisting in soft robots.
Purpose of the Study:
- To analyze the performance of bending-type multi-chambered extra-soft actuators.
- To investigate the ballooning effect in soft pneumatic actuators (SPAs) under pneumatic pressure.
- To develop a solution for uniform bending by minimizing ballooning.
Main Methods:
- Experimental analysis of corrugated multi-chambered soft pneumatic actuators.
- Observation of radial, longitudinal, and lateral expansions under air pressure.
- Comparison with computational solutions using finite element analysis (FEA).
Main Results:
- Ballooning predominantly occurs at the free end of the actuator under cantilever-type boundary conditions.
- The observed ballooning effect was not replicated by the FEA computational solution.
- Ballooning was found to disrupt the constant curvature profile of the SPA.
Conclusions:
- A chamber-reinforcement solution is proposed to mitigate ballooning in SPAs.
- The proposed solution aims to ensure uniform bending of soft pneumatic actuators.
- This advancement is crucial for reliable performance in soft robotic applications.
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