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An empirical model of soft bellows actuator
Zhe Qiu1, Shengyang Zhang1, Yitong Xue1
1Department of Robotics, Ritsumeikan University, Kusatsu, Japan.
Scientific Reports
|November 20, 2024
Summary
Researchers developed an empirical model for 3D printed soft bellows actuators, crucial for soft robotics in unstructured environments. This model accurately predicts actuator forces, enabling effective soft gripper design for product handling.
Area of Science:
- Soft robotics
- Actuator design
- Material science
Background:
- Soft robots offer advantages in unstructured environments like food factories due to their flexibility.
- Developing effective soft actuators and materials is key for soft robot applications.
- Modeling soft robots is challenging due to their complex, continuous nature.
Purpose of the Study:
- To design and model a 3D printed soft bellows actuator.
- To assess its suitability for creating soft grippers for practical product handling.
- To develop an empirical model for predicting actuator output forces.
Main Methods:
- Proposed an empirical model integrating bellows geometry and material properties.
- Conducted finite element simulations with varying bellows designs.
- Performed experimental validation using 3D printed bellows actuators.
Main Results:
- The empirical model accurately predicted soft bellows actuator output forces.
- Achieved low average absolute and relative errors in force prediction.
- Successfully designed and validated robotic grippers using the developed model.
Conclusions:
- The empirical model provides valuable insights for soft bellows actuator design and control.
- The developed soft grippers are effective for handling various products.
- This work advances the application of soft robotics in industrial settings.
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