Design, Fabrication, and Characterization of a Helical Twisting, Contracting, and Bending Fabric Soft Continuum Actuator
Design, Fabrication, and Characterization of a Helical Twisting, Contracting, and Bending Fabric Soft Continuum Actuator
复制标题
螺旋扭转、收缩和弯曲织物软连续致动器的设计、制造和表征
DOI：
10.1109/robosoft51838.2021.9479350
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Zhang, Wenlong
中科院分区：
文献类型：
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作者：
Nguyen, Pham H.;Mohd, Imran I.;Duford, Katherine;Bao, Xiong;Zhang, Wenlong
In recent years, soft robots have demonstrated the capability for delicate and compliant interactions with objects, users, and unstructured environments. These soft robotic systems are bio-inspired from various examples like snakes, hydrostatic muscles in elephants and octopi, plant tendrils, etc. These soft actuation systems, like their biological counterpart have shown the ability to replicate natural movement, making them potentially effective in real world use cases. In this paper, we propose a new fabric-based soft continuum actuator with three chambers capable of helical twisting and simultaneous linear contraction as well as bending in multi-DOF. We characterize the performance of the system based on their geometrical parameters and preliminarily evaluate the system as a bionic winding manipulator and a soft robot arm.
