Simulation analysis for optimal design of pneumatic bellow actuators for soft-robotic glove

• Autorzy: Guo Ning , Sun Zhidao , Wang Xiaojun , Yeung Eric Hiu Kwong , To Michael Kai Tsun , Li Xiaodong , Hu Yong

Identyfikatory

DOI

10.1016/j.bbe.2020.08.002

• Języki publikacji: EN

Abstrakty

EN

Soft actuators that have a bellows structure are favorable candidates for robots designed to interact with humans. However, a weak point in the actuator can occur as a result of deformation from the driving pressure. In this study, a simulation analysis of a soft bellows actuator composed of ethylene-vinyl acetate copolymer molding was conducted. The mechanical characteristics along different latitudes of the bellows in the soft actuator were evaluated using finite element modeling and analysis. Functional performance was studied during both compression and inflation using two driving methods (constant pumping rate-driven and constant displacement-driven). To validate the simulation, experimental tests were performed on a version of the soft bellows actuator that was constructed according to the same specifications as the model version; simulation and experimental displacements in relation to air pressure were compared. The results showed points near the trough were more likely to experience the largest stress during inflation and may suffer critical structural damage. During compression, points near the crest were more easily damaged. Stress variation showed good symmetry at points of interest on either side of the trough, during both inflation and compression. These findings provide a basis for precise control of and design improvements to soft bellows actuators for human-friendly usage.

Słowa kluczowe

EN

soft robot; soft pneumatic actuator; bellows joint; finite element modeling

PL

robotyka miękka; siłownik pneumatyczny; metoda elementów skończonych

• Wydawca: Nałęcz Institute of Biocybernetics and Biomedical Engineering of the Polish Academy of Sciences ; Elsevier
• Czasopismo: Biocybernetics and Biomedical Engineering
• Rocznik: 2020
• Tom: Vol. 40, no. 4
• Strony: 1359--1368
• Opis fizyczny: Bibliogr. 27 poz., rys., tab., wykr.

Twórcy

autor

Guo Ning

• Department of Orthopaedics and Traumatology, The University of Hong Kong, Hong Kong, China; Department of Physiotherapy, The University of Hong Kong - Shenzhen Hospital, Shenzhen, China

autor

Sun Zhidao

• Bridge Engineering Design and Research Institute, China Railway Engineering Design and Consulting Group Co., Ltd, Beijing, China

autor

Wang Xiaojun

• Department of Orthopaedics and Traumatology, The University of Hong Kong, Hong Kong, China; Department of Orthopaedics and Traumatology, The University of Hong Kong - Shenzhen Hospital, Shenzhen, China

autor

Yeung Eric Hiu Kwong

• Department of Physiotherapy, The University of Hong Kong - Shenzhen Hospital, Shenzhen, China

autor

To Michael Kai Tsun

• Department of Orthopaedics and Traumatology, The University of Hong Kong, Hong Kong, China; Department of Orthopaedics and Traumatology, The University of Hong Kong - Shenzhen Hospital, Shenzhen, China

autor

Li Xiaodong

• Department of Orthopaedics and Traumatology, The University of Hong Kong, Hong Kong, China; Department of Physiotherapy, The University of Hong Kong - Shenzhen Hospital, Shenzhen, China

autor

Hu Yong

• Department of Orthopaedics and Traumatology, The University of Hong Kong, Hong Kong, China; Department of Orthopaedics and Traumatology, The University of Hong Kong - Shenzhen Hospital, Shenzhen, China

Bibliografia

• [1] Weiwei Zhao CJ, Wang Daozhen, Shen Huifen. Clinical observation of effects of ultrashort wave therapy combined with acupuncture and rehabilitation training in the treatment of patients with dysphagia after stroke. Journal of Neurorestoratology 2019;7:136–42.
• [2] Reid LB, Rose SE, Boyd RN. Rehabilitation and neuroplasticity in children with unilateral cerebral palsy. Nat Rev Neurol 2015;11:390–400.
• [3] Wenbin Ding SZ, Dajiang Wu, Zhang Yanpeng, Ye Hualong. Hand function reconstruction in patients with chronic incomplete lower cervical spinal cord injury by nerve segment insert grafting: a preliminary clinical report. Journal of Neurorestoratology 2019;7:129–35.
• [4] Kadkhodaie M, Sharifnezhad A, Ebadi S, Marzban S, Habibi SA, Ghaffari A, et al. Effect of eccentric-based rehabilitation on hand tremor intensity in Parkinson disease. Neurol Sci 2020;41:637–43.
• [5] Yue Z, Zhang X, Wang J. Hand rehabilitation robotics on poststroke motor recovery. Behav Neurol 2017;2017. 3908135-3908135.
• [6] Wallin TJ, Pikul J, Shepherd RF. 3D printing of soft robotic systems. Nat Rev Mater 2018;3:84–100.
• [7] Tang X, Li K, Liu Y, Zhou D, Zhao J. A soft crawling robot driven by single twisted and coiled actuator. Sens Actuators A 2019;291:80–6.
• [8] Zhou F, Zhang M, Cao X, Zhang Z, Chen X, Xiao Y, et al. Fabrication and modeling of dielectric elastomer soft actuator with 3D printed thermoplastic frame. Sens Actuators A 2019;292:112–20.
• [9] Tan N, Gu X, Ren H. Design, characterization and applications of a novel soft actuator driven by flexible shafts. Mech Mach Theory 2018;122:197–218.
• [10] P. Boyraz, G. Runge, and A. Raatz, An overview of novel actuators for soft robotics, Multidisciplinary Digital Publishing Institute, pp. 48.
• [11] Hall KL, Phillips CA, Reynolds DB, Mohler SR, Rogers DB, Neidhard-Doll AT. Haptic control of a pneumatic muscle actuator to provide resistance for simulated isokinetic exercise; Part II: control development and testing. Comput Methods Biomech Biomed Eng 2015;18:1–14.
• [12] Wang Z, Hirai S. Chamber dimension optimization of a bellow-type soft actuator for food material handling. 2018 IEEE International Conference on Soft Robotics (RoboSoft). 2018. pp. 382–7.
• [13] Marchese AD, Katzschmann RK, Rus D. A recipe for soft fluidic elastomer robots. Soft Robot 2015;2:7–25.
• [14] Wang T, Ge L, Gu G. Programmable design of soft pneu-net actuators with oblique chambers can generate coupled bending and twisting motions. Sens Actuators A 2018;271:131–8.
• [15] Salem MEM, Wang Q, Wen R, Xiang M. Design and characterization of soft pneumatic actuator for universal robot gripper. 2018 International Conference on Control and Robots (ICCR). 2018. pp. 6–10.
• [16] De Payrebrune K, O'Reilly O. On the development of rod-based models for pneumatically actuated soft robot arms: a Five-parameter constitutive relation. Int J Solids Struct 2017;120.
• [17] Moviglia MTMBGustavo A, Couto Damián, Piccone Samanta. Local immunomodulation and muscle progenitor cells induce recovery in atrophied muscles in spinal cord injury patients. Journal of Neurorestoratology 2018;6:136–45.
• [18] Zhou JS, Chen XJ, Chang Y, Lu JT, Leung CCY, Chen YH, et al. A soft-robotic approach to anthropomorphic robotic hand dexterity. Ieee Access 2019;7:101483–95.
• [19] Pachpande D, Tembhare G, Wagle M. Stress analysis of thick wall bellows using finite element method. International Journal of Engineering Research and V4 2015.
• [20] Gawande SH, Pagar ND, Wagh VB, Keste AA. Numerical investigations on characteristics of stresses in U-shaped metal expansion bellows. International Journal of Metals 2015;2015:9.
• [21] Robyr S. FEM modelling of a bellows and a bellows-based micromanipulator. Helsinki University of Technology; 1999.
• [22] Zhou L, Li L, Zhao C. Performance analysis of the multi U-shaped bellows based on CAE. Mater Sci Forum 2014;800- 801:390–3.
• [23] Dämmer G, Gablenz S, Hildebrandt A, Major Z. PolyJet-printed bellows actuators: design, structural optimization, and experimental investigation. Frontiers in Robotics and AI 2019;6:34.
• [24] Soomro AM, Khalid MAU, Shah I, Kim Sw, Kim YS, Choi KH. Highly stable soft strain sensor based on gly-KCl filled sinusoidal fluidic channel for wearable and water-proof robotic applications. Smart Mater Struct 2020;29025011.
• [25] Jung W, Kang Y, Han S, Hwang Y. Biocompatible micro, soft bellow actuator rapidly manufactured using 3D-printed soluble mold. J Micromech Microeng 2019;29125005.
• [26] MacCurdy R, Katzschmann R, Kim Y, Rus D. Printable hydraulics: a method for fabricating robots by 3D co-printing solids and liquids; 2016.
• [27] Spindler C, Juhre D. Development of a shape memory alloy actuator using generative manufacturing. The International Journal of Advanced Manufacturing Technology 2018;97:4157–66.