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Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers

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Fluidic Oscillation-Based Pneumatic Actuation for Soft Locomotion and Grasping.

Zhenchao Ling^1,2, Aihu Jia¹, Yunlong Fu¹

¹Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China.

|December 11, 2024

Summary

This study introduces a novel oscillation-based pneumatic actuation method, removing traditional valve components. This innovation enhances robotic locomotion speed and enables new soft robotic applications.

Keywords:

Coanda effect fluidic oscillation pneumatic actuation soft locomotion

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Published on: November 8, 2019

Area of Science:

Robotics and Mechanical Engineering
Fluid Dynamics
Soft Materials Science

Background:

Pneumatic actuators in robotics typically use valves with moving parts and electronics, limiting system performance.
These limitations include reduced dynamic bandwidth and compromised robustness in robotic systems.

Purpose of the Study:

To present a new oscillation-based pneumatic actuation method that eliminates moving parts and electronics from valves.
To demonstrate the effectiveness of this method in soft robotic locomotion and pressure regulation applications.

Main Methods:

Developed a bistable load-switched (LoS) oscillator using the Coanda effect and internal flow fields.
Implemented the bistable LoS oscillator in soft robotic fish and runner prototypes for locomotion.
Demonstrated a single-output LoS oscillator for enhanced load capacity and pressure regulation.

Main Results:

Achieved locomotion speeds of 1.68 BL/s (body lengths per second) for a soft fish and 1.97 BL/s for a soft runner.
These speeds surpass those of existing pneumatic soft robotic counterparts.
The single-output oscillator facilitated a soft runner with higher load capacity and a relief valve for grippers.

Conclusions:

The oscillation-based pneumatic actuation method offers significant advantages in speed, size, weight, and robustness.
This technology has broad potential for various soft robotic systems and applications requiring advanced pneumatic control.
The removal of mechanical valves paves the way for more dynamic and reliable soft robotics.