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Volume 43 Issue 5
May  2017
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Journal of Beijing University of Aeronautics and Astronautics  > 2017  >  43(5): 1053-1060.
WANG Hua, KANG Rongjie, WANG Xingjian, et al. Design and modeling of a soft bending actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(5): 1053-1060. doi: 10.13700/j.bh.1001-5965.2016.0364(in Chinese)
Citation: WANG Hua, KANG Rongjie, WANG Xingjian, et al. Design and modeling of a soft bending actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(5): 1053-1060. doi: 10.13700/j.bh.1001-5965.2016.0364(in Chinese)
shu

Design and modeling of a soft bending actuator

doi: 10.13700/j.bh.1001-5965.2016.0364
  • 1.

    Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 30007

  • 2.

    School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 10008

  • 3.

    Centre for Robotics Research, King's College London, London WC2R 2LS, England

Funds:

National Natural Science Foundation of China 51375329

Tianjin Municipal Science and Technology Department Program 14JCYBJC19300

Specialized Research Fund for the Doctoral Program of Higher Education of China 20130032120036

More Information
  • Corresponding author: KANG Rongjie, E-mail:rjkang@tju.edu.cn
  • Received Date: 03 May 2016
  • Accepted Date: 24 Jun 2016
  • Publish Date: 20 May 2017
    Abstract

  • Compared with traditional "rigid" robots, soft robots inspired by biology have been of particular interest to the robotic communities due to their inherent compliance and safety. However, the actuation and control of the soft actuators for such soft robotics are still lacking of theoretical investigation. For these issues, a pneumatic actuator was designed to achieve compliant motions for use in soft robots. The mathematical model was then developed based on the analysis of its structure and bending principle utilizing the geometric analysis and the principle of virtual work. The model were finally validated by finite element model and prototype experiments, and can be used for the future design and control of soft robotic actuators.

     

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