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International Conference on Intelligent Robotics and Applications

ICIRA 2021: Intelligent Robotics and Applications pp 422–432Cite as

Design and Modeling of a Multi-joint Reinforced Soft Pneumatic Actuator

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13013))

Abstract

In order to improve the tip force and controllability of soft pneumatic actuator (SPA), this paper presents the design principle and mathematical modeling method of a multi-joint reinforced soft pneumatic actuator (MRSPA). The MRSPA is composed of an equivalent three driven joints and a spring leaf on the bottom of the MRSPA. Through finite element analysis (FEA), the influence of different chamber distribution on the bending performance of a single joint under the same length is explored. In addition, a mathematical model is established to explore the relationship between pressure, load and bending angle of the driven joints and to estimate the curved configuration of the MRSPA. The FEA results show that the uniform chamber distribution is easier to enable the two-way bending of the SPA. The mathematical model of the MRSPA is validated by comparing the simulation results based on the mathematical model with the FEA results.

The main contribution of this paper is to establish a mathematical model to estimate the tip force and configuration of the MRSPA at the same time.

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China

    Wei-Bin Xu & Xiao-Jun Yang

Authors
  1. Wei-Bin Xu
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  2. Xiao-Jun Yang
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Corresponding author

Correspondence to Xiao-Jun Yang .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Xu, WB., Yang, XJ. (2021). Design and Modeling of a Multi-joint Reinforced Soft Pneumatic Actuator. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_41

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  • DOI: https://doi.org/10.1007/978-3-030-89095-7_41

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89094-0

  • Online ISBN: 978-3-030-89095-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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