Model of a Coil-Reinforced Cylindrical Soft Actuator
Model of a Coil-Reinforced Cylindrical Soft Actuator
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DOI：
10.3390/app9102109
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发表时间：
2019-05
期刊：
影响因子：
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通讯作者：
T. Kanno;Shunya Ohkura;Osamu Azami;Tetsuro Miyazaki;Toshihiro Kawase;K. Kawashima
中科院分区：
文献类型：
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作者：
T. Kanno;Shunya Ohkura;Osamu Azami;Tetsuro Miyazaki;Toshihiro Kawase;K. Kawashima
圆柱形软致动器适用于通常使用气动或液压缸的应用。在本报告中，我们讨论了弹簧增强型圆柱形软执行器的力输出模型。这种类型的致动器输出的力大于气压乘以受压面积。我们根据材料的强度构建了一个准静态模型来探讨这种现象的原因。定义并分析了具有三个边界条件的厚壁圆柱体模型。模型表明，橡胶缸本身传递气压并贡献输出力。我们还对软执行器的压力和伸长率之间的关系进行了建模。进行了实验来评估所提出的模型。
A cylindrical soft actuator is suitable for applications in which pneumatic or hydraulic cylinders are conventionally used. In this report, we discuss the force output model of a spring-reinforced-type cylindrical soft actuator. This type of actuator outputs a larger force than the air pressure multiplied by the pressure-receiving area. We construct a quasi-static model to explore the reason for this phenomenon, based on the strength of materials. A thick-walled cylinder model with three boundary conditions was defined and analyzed. The model indicates that the rubber cylinder itself transmits pneumatic pressure and contributes to the output force. We also modeled the relationship between the pressure and the elongation of the soft actuator. Experiments were conducted to evaluate the proposed models.