Soft robots have unique advantages over traditional rigid robots and have broad application prospects in many fields.To expand their bioinspired applications,we propose a novel Soft Pneumatic Actuator(SPA)associated w...Soft robots have unique advantages over traditional rigid robots and have broad application prospects in many fields.To expand their bioinspired applications,we propose a novel Soft Pneumatic Actuator(SPA)associated with spiral configuration inspired by the structure and unwinding motion of the seahorse tail.Diff erent from bending motion of common soft actuators,the spiral SPA can generate unwinding motion as input air pressure increases.First,to explore the eff ect of diff erent initial spiral types on unwinding performance,three typical spiral SPAs are designed and simulated while keeping the outside arc of actuator body constant.Second,a static model of the spiral SPA is established by combining the hyperelastic material model,geometric relationships,and virtual work principle.To improve model accuracy,two geometric correction parameters are employed and their physical significance is analyzed by finite element simulations.Third,a prototype of the logarithmic spiral SPA(Log_spiral SPA)is fabricated and a Fiber Bragg Grating(FBG)sensor array is designed to detect and reconstruct unwinding shapes of the prototype.Finally,the unwinding performance,static model and output force capability of the prototype are tested and verified.Furthermore,we discuss prospects for this novel spiral SPA and test its practical applications in inchworm-like motion,assisting finger rehabilitation and object capture.展开更多
基金mainly supported by the National Natural Science Foundation,China(No.U1813216 and No.61903215)The Guangdong Natural Science Foundation,China(No.2018A030310679)+1 种基金The Basic Research Program of Shenzhen,China(No.JCYJ20180306174321766)The Open Project of Shenzhen Institute of Artificial Intelligence and Robotics for Society,China(No.ACO1202005004)。
文摘Soft robots have unique advantages over traditional rigid robots and have broad application prospects in many fields.To expand their bioinspired applications,we propose a novel Soft Pneumatic Actuator(SPA)associated with spiral configuration inspired by the structure and unwinding motion of the seahorse tail.Diff erent from bending motion of common soft actuators,the spiral SPA can generate unwinding motion as input air pressure increases.First,to explore the eff ect of diff erent initial spiral types on unwinding performance,three typical spiral SPAs are designed and simulated while keeping the outside arc of actuator body constant.Second,a static model of the spiral SPA is established by combining the hyperelastic material model,geometric relationships,and virtual work principle.To improve model accuracy,two geometric correction parameters are employed and their physical significance is analyzed by finite element simulations.Third,a prototype of the logarithmic spiral SPA(Log_spiral SPA)is fabricated and a Fiber Bragg Grating(FBG)sensor array is designed to detect and reconstruct unwinding shapes of the prototype.Finally,the unwinding performance,static model and output force capability of the prototype are tested and verified.Furthermore,we discuss prospects for this novel spiral SPA and test its practical applications in inchworm-like motion,assisting finger rehabilitation and object capture.
