Design of Embedded Structure Variable Stiffness Pneumatic Actuator

被引：1

作者：

Li, Yiqing ^{[1
]}

Zhou, Wen ^{[2
,3
]}

Cao, Yan ^{[1
]}

Jia, Feng ^{[1
]}

机构：

[1] Xian Technol Univ, Sch Mechatron Engn, Xian 710021, Peoples R China

[2] Xi An Jiao Tong Univ, Sch Mech Engn, Xian 710049, Peoples R China

[3] State Key Lab Mfg & Syst Engn, Xian 710049, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PART VI | 2019年 / 11745卷

关键词：

Soft pneumatic actuator; Variable stiffness; Embedded structure; SOFT; SURGERY;

D O I：

10.1007/978-3-030-27529-7_21

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Soft pneumatic actuator, which is actuated by pneumatic pressure, is the most widely used actuator in the field of soft robotics. During the application of the pneumatic actuator, the chambers inside the actuator expand like balloons. It causes nonlinear problems and gives difficulties in modeling of actuator. A design method of variable stiffness pneumatic actuator is proposed in this paper. The embedded structure is adopted by the actuator. The finite element method (FEM) is used for analyzing the effect of the proposed soft pneumatic actuator. The results show that the proposed design of the pneumatic actuator works well on restraining the balloon problems when the actuator bends.

引用

页码：234 / 239

页数：6

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