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Soft-Rigid Hybrid Revolute and Prismatic Joints Using Multilayered Bellow-Type Soft Pneumatic Actuators: Design,
Peter Seungjune Lee1, Cameron Sjaarda1, Run Ze Gao1
1Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Canada.
Soft Robotics
|September 20, 2024
Summary
This study introduces soft-rigid hybrid (SRH) robotic systems using multilayered bellow-shaped soft pneumatic actuators (MBSPAs). These systems enhance durability and performance for practical soft robotics applications.
Area of Science:
- Robotics
- Materials Science
- Mechanical Engineering
Background:
- Soft robotics offers advanced capabilities but faces practical integration challenges.
- Existing soft pneumatic actuators (SPAs) have limitations in payload, durability, and environmental resilience.
- Widespread application of soft robotics is hindered by design and integration complexities.
Purpose of the Study:
- To develop and evaluate soft-rigid hybrid (SRH) robotic systems using multilayered bellow-shaped soft pneumatic actuators (MBSPAs).
- To overcome common limitations of soft pneumatic actuators (SPAs), including restricted payload capacity and vulnerability.
- To enhance the performance, durability, and environmental resilience of soft robotic components for real-world applications.
Main Methods:
- Development of a unique SRH revolute joint utilizing a single thermoplastic polyurethane-MBSPA and rigid components.
- Implementation of finite element method (FEM) modeling for actuator performance estimation and design.
- Characterization of actuator performance, including displacement, frequency response, durability (25,000 cycles), force output, stiffness, and power density.
Main Results:
- The proposed SRH system demonstrates improved displacement efficiency, force output, and resilience against external loads.
- Rigid components encapsulate and protect the MBSPA, stabilizing motion and enhancing durability and repeatability.
- FEM modeling facilitated MBSPA design with limited material data, bypassing trial and error.
- A proof-of-concept 3-point gripper exhibited versatility in handling objects of various sizes and shapes.
Conclusions:
- The developed SRH system provides a robust foundation for advancing soft robotic technology toward practical, real-life applications.
- This hybrid approach addresses key limitations of traditional SPAs, paving the way for safer and more efficient automated systems, particularly in agriculture.
- The research highlights the potential for seamless integration of advanced robotic systems into human workflows.
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