Abstract
Pneumatic gripper uses compressed air to operate its actuators (fingers). Unlike the conventional metallic gripper, soft pneumatic actuator (SPA) can be used for relocating fragile objects. An added advantage for this gripper is that the pressure exerted on the object can be varied by changing the dimensions of the air chambers and also by number of chambers. SPAs have many benefits over the conventional robots in military and medical fields because of their compliance nature and are easily produced using 3D printing process. In the paper, SPA is proposed to perform pick and place task. A design was developed for the actuators which is convenient for gripping any fragile objects. Thermoplastic polyurethane (TPU) is used for 3D printing of the actuators. The actuator model behaves differently as the parameters such as its chamber height and number of chambers change. A detailed FEM model of the actuator is drafted for different pressure inputs using ABAQUS CAE software, and safe loading pressure range is found.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Coyle S, Majidi C, LeDuc P, Hsia KJ (2018) Bio-inspired soft robotics: material selection, actuation, and design. Extreme Mech Lett 22:51–59
Mosadegh B, Polygerinos P, Keplinger C, Wennstedt S, Shepherd RF, Gupta U, Shim J, Bertoldi K, Walsh CJ, Whitesides GM (2014) Pneumatic networks for soft robotics that actuate rapidly. Adv Funct Mater 2163–2170
Li Y, Chen Y, Yang Y, Wei Y (2016) Passive particle jamming and its stiffening of soft robotic grippers. University of Hong Kong and the Innovation and Technology Fund project. IEEE Trans Robot 1552–3098
Cho KJ, Koh JS, Kim S, Chu WS, Hong Y, Ahn SH (2018) Review of manufacturing processes for soft biomimetic robots. Int J Precis Eng Manuf 10(3):171–181
Gul JZ, Sajid M, Rehman MM, Siddiqui GU, Shah I, Kim KH, Lee JW, Choi KH (2018) 3D printing for soft robotics—a review. Sci Technol Adv Mater 19:243–262
FarzadLiravi ET (2018) A hybrid additive manufacturing method for the fabrication of silicone bio-structures: 3D printing optimization and surface characterization. Mater Des 138:46–61
Al-Fahaam H, Davis S, Nefti-Meziani S (2018) The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons. Robot Auton Syst 99:63–74
Dilibal S, Sahin H, Celik Y (2018) Experimental and numerical analysis on the bending response of the geometrically gradient soft robotics actuator. Arch Mech 391–404
Robinson SS, O’Brien KW, Zhao H, Peele BN, Larson CM, Mac Murray BC, Van Meerbeek IM, Dunham SN, Shepherd RF (2015) Integrated soft sensors and elastomeric actuators for tactile machines with kinesthetic sense. Extreme Mech Lett 5:47–53
Aliff M, Dohta S, Akagi T, Li H (2012) Development of a simple-structured pneumatic robot arm and its control using low-cost embedded controller. In: International symposium on robotics and intelligent sensors 2012 (IRIS 2012). Procedia Eng 41:134–142
Elgeneidy K, Lohse N, Jackson M (2016) Data-driven bending angle prediction of soft pneumatic actuators with embedded flex sensors. IFAC-Papers Online 49–21:513–520
Wang T, Ge L, Gu G (2018) Programmable design of soft pneu-net actuators with oblique chambers can generate coupled bending and twisting motions. Sens Actuators A 271:131–138
Florez JM, Shih B, Bai Y, Paik JK (2014) Soft pneumatic actuators for legged locomotion. In: Proceedings of the 2014 IEEE international conference on robotics and biomimetics, 5–10 Dec 2014, Bali, Indonesia
Wang Y, Gregory C, Minor MA (2018) Improving mechanical properties of molded silicone rubber for soft robotics through fabric compositing. Soft Robot 5(3)
Cappello L, Galloway KC, Sanan S, Wagner DA, Granberry R, Engelhardt S, Haufe FL, Peisner JD, Walsh CJ (2018) Exploiting textile mechanical anisotropy for fabric-based pneumatic actuators. Soft Robot 5(7)
Sun Y, Song YS, Paik J (2013) Characterization of silicone rubber based soft pneumatic actuators. In: IEEE/RSJ international conference on intelligent robots and systems, 3–7 Nov
Vaicekauskaite J, Mazurek P, Vudayagiri S, Skov AL (2019) Mapping the mechanical and electrical properties of commercial silicone elastomer formulations for stretchable transducers. J Mater Chem C
Polygerinos P, Lyne S, Wang Z, Nicolini LF, Mosadegh B, Whitesides GM, Walsh CJ (2013) Towards a soft pneumatic glove for hand rehabilitation. In: 2013 IEEE/RSJ international conference on intelligent robots and systems (IROS), Tokyo, Japan, 3–7 Nov 2013
Alici G, Canty T, Mutlu R, Hu W, Sencadas V (2017) Modeling and experimental evaluation of bending behavior of soft pneumatic actuators made of discrete actuation chambers. Soft Robot
Schmitt F, Piccin O, Barbé L, Bayle B (2018) Soft robots manufacturing: a review. Front Robot AI 5
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Chigurupati, S., Balaji, J. (2022). Analysis of Bending Abilities of Soft Pneumatic Actuator. In: Kumar, S., Ramkumar, J., Kyratsis, P. (eds) Recent Advances in Manufacturing Modelling and Optimization. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-9952-8_42
Download citation
DOI: https://doi.org/10.1007/978-981-16-9952-8_42
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-16-9951-1
Online ISBN: 978-981-16-9952-8
eBook Packages: EngineeringEngineering (R0)