Work

A new design and analysis of low-profile soft rotary pneumatic actuator for enhanced rotation and torque

Year: 2024

Type: article

Abstract: Soft actuators producing bending motions have gained significant attention for their advantages in mimicking the properties and movements of human muscles. However, the research on soft rotary actuators has yet to keep pace with other soft actuators. This paper makes two key contributions to the design and modeling of these actuators. First, we introduce a novel design for a soft rotary pneumatic actuator. This design outperforms existing cylindrical shaped soft actuators, especially in terms of torque. Second, we present an analytical model based on finite deformation. This model accurately describes the relationship between rotational movement and corresponding torque. The accuracy of this model is validated through Finite Element Method (FEM) simulations and corresponding tests. By providing a mechanically efficient design and a highly accurate analytical model, this work offers a comprehensive solution for the development of new soft pneumatic actuators.

Source: The International Journal of Robotics Research

DOI: 10.1177/02783649241273662

Authors: Young Min Lee, Hyungpil Moon, Hyouk Ryeol Choi, Ja Choon Koo

Institution: Sungkyunkwan University

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

Funders: National Research Foundation, National Research Foundation of Korea, Ministry of Science and ICT, South Korea

Awards: G1528231089, G3339797511, G3812690899, G4808853972