Abstract:
Soft actuators are compliant structures that are generally made of elastomers and generates large deformation. The behavior of these structures cannot be estimated accura...Show MoreMetadata
Abstract:
Soft actuators are compliant structures that are generally made of elastomers and generates large deformation. The behavior of these structures cannot be estimated accurately using infinitesimal strain theories. The objective of soft robotics applications is the controlled large deformation of these structures. In this article, we propose an analytical model for a pneu-net soft actuator. The model is based on the Euler–Bernoulli finite strain hyperelastic thin cantilever beam theory. The deformation of the air chambers is modeled using finite strain membrane theory. The analytical model is developed for two different states of the actuator: 1) free space; and 2) when the actuator was subjected to tip contact. The proposed theoretical model predicts the deformation and force characteristics of the actuator for the grasping state. The theoretical formulation of the developed model is different from previously developed infinitesimal strain models for the actuator, as it considers the axial stretch and forces applied to the actuator. In addition, it can be theoretically implemented on similar structured actuators for various applications. The theoretically calculated deformation and force characteristics of different actuators are compared with the finite element (FE) model and experimental characteristics. The results suggest that the proposed model can predict the actuator deformation and force characteristics as accurately as the FE model, but the computation time of the proposed model is less than 1% that of the FE model. The proposed model is further implemented on a three-finger gripper to predict the air pressure required for a stable grasp of different objects and is validated experimentally.
Published in: IEEE Transactions on Robotics ( Volume: 38, Issue: 5, October 2022)
Funding Agency:
Soft Robotics Laboratory, Department of Robotics, Ritsumeikan University, Kusatsu, Japan
Sachin received the B.Tech. degree in mechanical engineering from Maharshi Dayanand University, Rohtak, India, in 2015, and the M.Tech. degree in mechanical engineering from Dr B R Ambedkar National Institute of Technology, Jalandhar, India, in 2018. He is currently working toward the Ph.D. degree in advanced mechanical engineering and robotics with Ritsumeikan University, Kusatsu, Japan.
From 2018 to 2019, he was a Design...Show More
Sachin received the B.Tech. degree in mechanical engineering from Maharshi Dayanand University, Rohtak, India, in 2015, and the M.Tech. degree in mechanical engineering from Dr B R Ambedkar National Institute of Technology, Jalandhar, India, in 2018. He is currently working toward the Ph.D. degree in advanced mechanical engineering and robotics with Ritsumeikan University, Kusatsu, Japan.
From 2018 to 2019, he was a Design...View more
Research Organization of Science and Technology, Ritsumeikan University, Kusatsu, Japan
Zhongkui Wang (Member, IEEE) received the B.S. and M.S. degrees in mechanical engineering from Northeast Forestry University, Harbin, China, in 2000 and 2003 respectively, and the Ph.D. degree in robotics from Ritsumeikan University, Kusatsu, Japan, in 2011.
From 2011 to 2012 and 2012 to 2014, he was a Research Associate and a Postdoctoral Fellow, respectively, with Ritsumeikan University. During his Postdoc, he visited ET...Show More
Zhongkui Wang (Member, IEEE) received the B.S. and M.S. degrees in mechanical engineering from Northeast Forestry University, Harbin, China, in 2000 and 2003 respectively, and the Ph.D. degree in robotics from Ritsumeikan University, Kusatsu, Japan, in 2011.
From 2011 to 2012 and 2012 to 2014, he was a Research Associate and a Postdoctoral Fellow, respectively, with Ritsumeikan University. During his Postdoc, he visited ET...View more
Soft Robotics Laboratory, Department of Robotics, Ritsumeikan University, Kusatsu, Japan
Shinichi Hirai (Senior Member, IEEE) received the B.S., M.S., and Ph.D. degrees from Kyoto University, Kyoto, Japan, in 1985, 1987, and 1991, respectively, all in applied mathematics and physics.
In 1996, he joined the newly established Department of Robotics, Ritsumeikan University, Kusatsu, Japan, where he has been a Professor since 2002. He was a Visiting Researcher with the Massachusetts Institute of Technology, Cambri...Show More
Shinichi Hirai (Senior Member, IEEE) received the B.S., M.S., and Ph.D. degrees from Kyoto University, Kyoto, Japan, in 1985, 1987, and 1991, respectively, all in applied mathematics and physics.
In 1996, he joined the newly established Department of Robotics, Ritsumeikan University, Kusatsu, Japan, where he has been a Professor since 2002. He was a Visiting Researcher with the Massachusetts Institute of Technology, Cambri...View more
Contents Soft Robotics Laboratory, Department of Robotics, Ritsumeikan University, Kusatsu, Japan
Sachin received the B.Tech. degree in mechanical engineering from Maharshi Dayanand University, Rohtak, India, in 2015, and the M.Tech. degree in mechanical engineering from Dr B R Ambedkar National Institute of Technology, Jalandhar, India, in 2018. He is currently working toward the Ph.D. degree in advanced mechanical engineering and robotics with Ritsumeikan University, Kusatsu, Japan.
From 2018 to 2019, he was a Design Engineer with Lakshmi Machine Works Limited, Coimbatore, India. His research interest includes soft robotics, machine design, modeling and simulations of mechanical systems, and automation.
Sachin received the B.Tech. degree in mechanical engineering from Maharshi Dayanand University, Rohtak, India, in 2015, and the M.Tech. degree in mechanical engineering from Dr B R Ambedkar National Institute of Technology, Jalandhar, India, in 2018. He is currently working toward the Ph.D. degree in advanced mechanical engineering and robotics with Ritsumeikan University, Kusatsu, Japan.
From 2018 to 2019, he was a Design Engineer with Lakshmi Machine Works Limited, Coimbatore, India. His research interest includes soft robotics, machine design, modeling and simulations of mechanical systems, and automation.View more
Research Organization of Science and Technology, Ritsumeikan University, Kusatsu, Japan
Zhongkui Wang (Member, IEEE) received the B.S. and M.S. degrees in mechanical engineering from Northeast Forestry University, Harbin, China, in 2000 and 2003 respectively, and the Ph.D. degree in robotics from Ritsumeikan University, Kusatsu, Japan, in 2011.
From 2011 to 2012 and 2012 to 2014, he was a Research Associate and a Postdoctoral Fellow, respectively, with Ritsumeikan University. During his Postdoc, he visited ETH Zurich, Zurich, Switzerland, for six months as a Guest Researcher. From 2014 to 2019, he was an Assistant Professor with Ritsumeikan University, where he has been an Associate Professor since 2019. His research interests mainly include soft robotics, biomedical engineering, and tactile sensing.
Dr. Wang was the recipient of the Best Paper Award on Robotics at the 2018 IEEE International Conference on Real-time Computing and Robotics, and the Best Paper Award at IEEE 24th International Conference on Mechatronics and Machine Vision in Practice. He is an Associate Editor for IEEE Robotics and Automation Letters and an Editorial Board Member of the Chinese Journal of Mechanical Engineering.
Zhongkui Wang (Member, IEEE) received the B.S. and M.S. degrees in mechanical engineering from Northeast Forestry University, Harbin, China, in 2000 and 2003 respectively, and the Ph.D. degree in robotics from Ritsumeikan University, Kusatsu, Japan, in 2011.
From 2011 to 2012 and 2012 to 2014, he was a Research Associate and a Postdoctoral Fellow, respectively, with Ritsumeikan University. During his Postdoc, he visited ETH Zurich, Zurich, Switzerland, for six months as a Guest Researcher. From 2014 to 2019, he was an Assistant Professor with Ritsumeikan University, where he has been an Associate Professor since 2019. His research interests mainly include soft robotics, biomedical engineering, and tactile sensing.
Dr. Wang was the recipient of the Best Paper Award on Robotics at the 2018 IEEE International Conference on Real-time Computing and Robotics, and the Best Paper Award at IEEE 24th International Conference on Mechatronics and Machine Vision in Practice. He is an Associate Editor for IEEE Robotics and Automation Letters and an Editorial Board Member of the Chinese Journal of Mechanical Engineering.View more
Soft Robotics Laboratory, Department of Robotics, Ritsumeikan University, Kusatsu, Japan
Shinichi Hirai (Senior Member, IEEE) received the B.S., M.S., and Ph.D. degrees from Kyoto University, Kyoto, Japan, in 1985, 1987, and 1991, respectively, all in applied mathematics and physics.
In 1996, he joined the newly established Department of Robotics, Ritsumeikan University, Kusatsu, Japan, where he has been a Professor since 2002. He was a Visiting Researcher with the Massachusetts Institute of Technology, Cambridge, MA, USA, in 1989 and was an Assistant Professor with Osaka University, Suita, Japan, from 1990 to 1996. He published Mechanics and Control of Soft-Fingered Manipulation (New York, NY, USA: Springer, 2009) and Mechanics of Localized Slippage in Tactile Sensing (New York, NY, USA: Springer, 2014). His current research interests include soft robotic hands, soft sensors, soft object manipulation, and soft object modeling.
Dr. Hirai is a Member of RSJ, JSME, and SICE. He was the recipient of the Robotics Society of Japan (RSJ) Best Paper Award in 2008, FOOMA Japan Academic Plaza Award in 2018, and International Conference on Ubiquitous Robots Best Paper Award in 2020. He served as an Associate Editor of IEEE Transactions on Robotics from 2006 to 2010 and from 2014 to 2018.
Shinichi Hirai (Senior Member, IEEE) received the B.S., M.S., and Ph.D. degrees from Kyoto University, Kyoto, Japan, in 1985, 1987, and 1991, respectively, all in applied mathematics and physics.
In 1996, he joined the newly established Department of Robotics, Ritsumeikan University, Kusatsu, Japan, where he has been a Professor since 2002. He was a Visiting Researcher with the Massachusetts Institute of Technology, Cambridge, MA, USA, in 1989 and was an Assistant Professor with Osaka University, Suita, Japan, from 1990 to 1996. He published Mechanics and Control of Soft-Fingered Manipulation (New York, NY, USA: Springer, 2009) and Mechanics of Localized Slippage in Tactile Sensing (New York, NY, USA: Springer, 2014). His current research interests include soft robotic hands, soft sensors, soft object manipulation, and soft object modeling.
Dr. Hirai is a Member of RSJ, JSME, and SICE. He was the recipient of the Robotics Society of Japan (RSJ) Best Paper Award in 2008, FOOMA Japan Academic Plaza Award in 2018, and International Conference on Ubiquitous Robots Best Paper Award in 2020. He served as an Associate Editor of IEEE Transactions on Robotics from 2006 to 2010 and from 2014 to 2018.View more
