Quasi-Static Modeling Framework for Soft Bellow-Based Biomimetic Actuators

Kelvin Ho Lam Heung, Ting Lei, Kaixin Liang, Jiye Xu, Joonoh Seo, Heng Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

Abstract

Soft robots that incorporate elastomeric matrices and flexible materials have gained attention for their unique capabilities, surpassing those of rigid robots, with increased degrees of freedom and movement. Research has highlighted the adaptability, agility, and sensitivity of soft robotic actuators in various applications, including industrial grippers, locomotive robots, wearable assistive devices, and more. It has been demonstrated that bellow-shaped actuators exhibit greater efficiency compared to uniformly shaped fiber-reinforced actuators as they require less input pressure to achieve a comparable range of motion (ROM). Nevertheless, the mathematical quantification of the performance of bellow-based soft fluidic actuators is not well established due to their inherent non-uniform and complex structure, particularly when compared to fiber-reinforced actuators. Furthermore, the design of bellow dimensions is mostly based on intuition without standardized guidance and criteria. This article presents a comprehensive description of the quasi-static analytical modeling process used to analyze bellow-based soft actuators with linear extension. The results of the models are validated through finite element method (FEM) simulations and experimental testing, considering elongation in free space under fluidic pressurization. This study facilitates the determination of optimal geometrical parameters for bellow-based actuators, allowing for effective biomimetic robot design optimization and performance prediction.

Original languageEnglish
Article number160
JournalBiomimetics
Volume9
Issue number3
DOIs
Publication statusPublished - Mar 2024

Keywords

  • analytical modeling
  • elongation
  • finite element method (FEM)
  • pneumatic extension actuators
  • soft robots

ASJC Scopus subject areas

  • Biotechnology
  • Bioengineering
  • Biomaterials
  • Biochemistry
  • Biomedical Engineering
  • Molecular Medicine

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