Flexible pneumatic twisting actuators and their application to tilting micromirrors

被引:84
作者
Gorissen, Benjamin [1 ,2 ]
Chishiro, Takuya [3 ]
Shimomura, Shuhei [3 ]
Reynaerts, Dominiek [2 ]
De Volder, Michael [2 ]
Konishi, Satoshi [4 ]
机构
[1] Ritsumeikan Univ, Ritsumeikan Global Innovat Res Org, Kusatsu, Shiga 5258577, Japan
[2] Katholieke Univ Leuven, Dept Mech Engn, B-3001 Louvain, Belgium
[3] Ritsumeikan Univ, Grad Sch Sci & Engn, Kusatsu, Shiga 5258577, Japan
[4] Ritsumeikan Univ, Coll Sci & Engn, Kusatsu, Shiga 5258577, Japan
关键词
Twisting actuator; Flexible actuator; Pneumatic actuator; ELECTRO-CONJUGATE FLUID; BIDIRECTIONAL MOTION; BALLOON ACTUATORS; SOFT; PDMS; ROBOT;
D O I
10.1016/j.sna.2014.01.015
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
Compliant pneumatic actuators have recently attracted the interests of the robotics community, especially for soft robotic applications where large strokes are needed in delicate environments. To date, these actuators have demonstrated the ability to generate contracting, expanding and bending strokes. This paper introduces a new actuator design that complements the existing actuators by generating twisting deformations upon pressurization. A fabrication process is developed that uses accessible PDMS soft lithography techniques. With this process, prototype actuators with a width of 7 mm and a thickness of 0.65 mm have been made that achieved a twisting rotation of 6.5 degrees/mm actuator length at a pressure of 178 kPa. This paper also presents the integration of four twisting actuators into a 2 DOF tilting mirror platform which is capable of deflecting a mirror over 25 degrees at a pressure of 231 kPa. (C) 2014 Elsevier B.V. All rights reserved.
引用
收藏
页码:426 / 431
页数:6
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