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FEA Evaluation of Ring-Shaped Soft-Actuators for a Stomach Robot

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Robot Intelligence Technology and Applications 5 (RiTA 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 751))

Abstract

This paper evaluates four designs of circumferential pneumatic soft-actuator and shows its application to a soft stomach robot. The testing of the design is based on a finite element analysis of geometrical displacement and related pressurisation. In a biological human stomach, the antral contraction wave deformation is represented in a ring-shaped structure. The inspiration of such behavior of deformation leads to a proposal of a ring-shaped soft actuator. The proposed actuator includes a pneumatic system with multi-chambers and multi-layers to produce a deformation similar to that in the stomach organ. There are four proposed chamber designs: semicircular, cylindrical, ellipsoidal and semirectangular. The body of the actuator is made of soft material (silicone) with a high stress/strain relationship in order to exhibit large deformation behavior. In this article, the evaluation of four possible shapes of pneumatic chambers of the circumferential soft-actuator is examined and compared by Finite Element Analysis to simulate the displacement of each soft actuator. Two different methods are used in the experiments: (1) we applied the same pressure to all actuators and compare the displacements, (2) we applied different pressures to obtain the maximum pressure in each actuator before distortion and then examine the maximum displacement that can be achieved.

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Acknowledgements

The work presented in this paper was funded by New Zealand Medical Technologies Centre of Research Excellence (MedTech CoRE).

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand

    Ryman Hashem & Weiliang Xu

  2. Department of Electrical and Electronic Engineering, Auckland University of Technology, Auckland, New Zealand

    Martin Stommel

  3. Auckland Bioengineering Institute, University of Auckland, Auckland, New Zealand

    Leo K. Cheng

Authors
  1. Ryman Hashem
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  2. Weiliang Xu
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  3. Martin Stommel
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  4. Leo K. Cheng
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Corresponding author

Correspondence to Weiliang Xu .

Editor information

Editors and Affiliations

  1. School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Jong-Hwan Kim

  2. Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Hyun Myung

  3. School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Junmo Kim

  4. Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand

    Weiliang Xu

  5. Department of Computer and Information Technology, Purdue University, West Lafayette, Indiana, USA

    Eric T Matson

  6. Department of Computer Science and Engineering, Dongguk University, Seoul, Korea (Republic of)

    Jin-Woo Jung

  7. Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Han-Lim Choi

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Hashem, R., Xu, W., Stommel, M., Cheng, L.K. (2019). FEA Evaluation of Ring-Shaped Soft-Actuators for a Stomach Robot. In: Kim, JH., et al. Robot Intelligence Technology and Applications 5. RiTA 2017. Advances in Intelligent Systems and Computing, vol 751. Springer, Cham. https://doi.org/10.1007/978-3-319-78452-6_38

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