Quasi-static analysis of an electrohydraulic actuator for a soft gripper

被引：5
|
作者：
Lee, Kanghyeon [1 ]
Cha, Youngsu [1 ]
机构：
[1] Korea Univ, Sch Elect Engn, Seoul 02841, South Korea
来源：
SENSORS AND ACTUATORS A-PHYSICAL | 2023年 / 352卷
基金：
新加坡国家研究基金会;
关键词：
Electrohydraulic force; Electrostatic force; Soft gripper; DESIGN;
D O I：
10.1016/j.sna.2023.114214
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this study, we develop an analytical model for an electrohydraulic actuator operating with polyethylene pouches, polydimethylsiloxane backbone plates, and dielectric fluids, to analyze its performance considering the displacement. We assume a soft gripper based on two facing electrohydraulic actuators and theoretically estimate the gripper performance in two respects: the workspace and the grasping force. Finally, we conduct parametric studies by varying three parameters: the length of backbone plate, the amount of dielectric fluid, and the permittivity of the dielectric fluid, to demonstrate the changes in performance according to their values.
引用
收藏
页数：12
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