Abstract
Two types of soft bending actuators with the rib structure and the pleated structure are introduced in this study. We illustrate the advantages of the two types of actuators, as well as their applicability to different tasks. We build a finite element model to simulate the deformation of the two actuators under the internal pressure. The simulation result shows a visible difference between the responses of the two actuators to the same internal pressure. We qualitatively explain the reason for these differences based on the simulation result. The two actuators are made using the same process, which is briefly described in the work. We establish two prototypes of soft robots, a robotic gripper and a robotic fishtail, which are used to verify the applicability of the actuator with pleated structure and actuator with rib structure respectively.
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Zhou, W., Chen, J., Wang, X., Hu, J., Li, Y. (2019). Analysis and Application of the Bending Actuators Used in Soft Robotics. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_50
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DOI: https://doi.org/10.1007/978-3-030-27532-7_50
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