A novel three-dimensional-fiber reinforced soft pneumatic actuator(3D-FRSPA)inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed.It has an omni-directional ...A novel three-dimensional-fiber reinforced soft pneumatic actuator(3D-FRSPA)inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed.It has an omni-directional bending configuration,and the fibers twined symmetrically on both sides to improve the bending performance of FRSPA.In this paper,the static and kinematic analysis of 3D-FRSPA are carried out in detail.The effects of fiber,pneumatic chamber and segment length,and circular air chamber radius of 3D-FRSPA on the mechanical performance of the actuator are discussed,respectively.The soft mobile robot composed of 3D-FRSPA has the ability to crawl.Finally,the crawling processes of the soft mobile robot on different road conditions are studied,respectively,and the motion mechanism of the mobile actuator is shown.The numerical results show that the soft mobile robots have a good comprehensive performance,which verifies the correctness of the proposedmodel.This work shows that the proposed structures have great potential in complex road conditions,unknown space detection and other operations.展开更多
In order to achieve a wheelchair climb stairs function, this paper designs a star-wheel stair-climbing mechanism. Through the effect of the lock coupling, the star-wheel stair-climbing mechanism is formed to be fixed ...In order to achieve a wheelchair climb stairs function, this paper designs a star-wheel stair-climbing mechanism. Through the effect of the lock coupling, the star-wheel stair-climbing mechanism is formed to be fixed axis gear train or planetary gear train achieving flat-walking and stair-climbing functions. Crossing obstacle analysis obtains the maximum height and minimum width of obstacle which the wheelchair can cross. Stress-strain analysis in Solidworks simulation is performed to verify material strength.展开更多
基金work is supported by the Fundamental Research Funds for the Central Universities(Grant No.B230205021)the Postgraduate Research&Practice Innovation Program of Jiangsu Province,China(GrantNo.KYCX22_0592).The financial supports are gratefully acknowl-edged.
文摘A novel three-dimensional-fiber reinforced soft pneumatic actuator(3D-FRSPA)inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed.It has an omni-directional bending configuration,and the fibers twined symmetrically on both sides to improve the bending performance of FRSPA.In this paper,the static and kinematic analysis of 3D-FRSPA are carried out in detail.The effects of fiber,pneumatic chamber and segment length,and circular air chamber radius of 3D-FRSPA on the mechanical performance of the actuator are discussed,respectively.The soft mobile robot composed of 3D-FRSPA has the ability to crawl.Finally,the crawling processes of the soft mobile robot on different road conditions are studied,respectively,and the motion mechanism of the mobile actuator is shown.The numerical results show that the soft mobile robots have a good comprehensive performance,which verifies the correctness of the proposedmodel.This work shows that the proposed structures have great potential in complex road conditions,unknown space detection and other operations.
基金Supported Special Topic of the Ministry of Education about Humanities and Social Sciences of China(12JDGC007)University Natural Science Research Projects of Anhui Province(KJ2011ZD01)Science and Technology Research Project of Anhui Province(1301022052)
文摘In order to achieve a wheelchair climb stairs function, this paper designs a star-wheel stair-climbing mechanism. Through the effect of the lock coupling, the star-wheel stair-climbing mechanism is formed to be fixed axis gear train or planetary gear train achieving flat-walking and stair-climbing functions. Crossing obstacle analysis obtains the maximum height and minimum width of obstacle which the wheelchair can cross. Stress-strain analysis in Solidworks simulation is performed to verify material strength.
