Slit Tubes for Semisoft Pneumatic Actuators

被引：76

作者：

Belding, Lee ^{[1
]}

Baytekin, Bilge ^{[2
,7
]}

Baytekin, Hasan Tarik ^{[2
,8
]}

Rothemund, Philipp ^{[1
,3
,6
]}

Verma, Mohit S. ^{[1
]}

Nemiroski, Alex ^{[1
]}

Sameoto, Dan ^{[1
,5
]}

Grzybowski, Bartosz A. ^{[2
,9
,10
]}

Whitesides, George M. ^{[1
,4
,6
]}

机构：

[1] Harvard Univ, Dept Chem & Chem Biol, 12 Oxford St, Cambridge, MA 02138 USA

[2] Northwestern Univ, Dept Chem & Biol Engn, 2145 Sheridan Rd, Evanston, IL 60208 USA

[3] Harvard Univ, Sch Engn & Appl Sci, 29 Oxford St, Cambridge, MA 02138 USA

[4] Harvard Univ, Wyss Inst Biol Inspired Engn, 29 Oxford St, Cambridge, MA 02138 USA

[5] Univ Alberta, Dept Mech Engn, 9211-116 St NW, Edmonton, AB T6G 1H9, Canada

[6] Harvard Univ, Kavli Inst Bionano Sci & Technol, 29 Oxford St, Cambridge, MA 02138 USA

[7] Bilkent Univ, Chem Dept, TR-06800 Ankara, Turkey

[8] Bilkent Univ, UNAM, TR-06800 Ankara, Turkey

[9] UNIST, Ctr Soft & Living Matter, Inst Basic Sci, Ulsan 44919, South Korea

[10] UNIST, Dept Chem, Ulsan 44919, South Korea

来源：

ADVANCED MATERIALS | 2018年 / 30卷 / 09期

基金：

加拿大自然科学与工程研究理事会;

关键词：

external shells; pneumatic actuators; pneumatic artificial muscles; semisoft; sequential actuation; soft robotics; SOFT ACTUATORS; DESIGN; FABRICATION; ROBOTICS; DRIVEN;

D O I：

10.1002/adma.201704446

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

This article describes a new principle for designing soft or semisoft' pneumatic actuators: SLiT (for SLit-in-Tube) actuators. Inflating an elastomeric balloon, when enclosed by an external shell (a material with higher Young's modulus) containing slits of different directions and lengths, produces a variety of motions, including bending, twisting, contraction, and elongation. The requisite pressure for actuation depends on the length of the slits, and this dependence allows sequential actuation by controlling the applied pressure. Different actuators can also be controlled using external sliders that act as reprogrammable on-off switches. A pneumatic arm and a walker constructed from SLiT actuators demonstrate their ease of fabrication and the range of motions they can achieve.

引用

页数：10

共 43 条

[21] Robotic Tentacles with Three-Dimensional Mobility Based on Flexible Elastomers [J].