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Modeling of a two-degree-of-freedom fiber-reinforced soft pneumatic actuator

Part of: The 40th Anniversary of Robotica

Published online by Cambridge University Press:  24 August 2023

Varell Ferrandy ,
Indrawanto ,
F. Ferryanto ,
Arif Sugiharto ,
Enrico Franco ,
Arnau Garriga-Casanovas ,
Andi Isra Mahyuddin ,
Ferdinando Rodriguez y Baena ,
Sandro Mihradi  and
Vani Virdyawan Open the ORCID record for Vani Virdyawan [Opens in a new window]
Varell Ferrandy
Affiliation:
Mechanical Engineering Study Program, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Bandung, Indonesia
Indrawanto
Affiliation:
Mechanical Production Engineering Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Bandung, Indonesia
F. Ferryanto
Affiliation:
Mechanical Design Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Bandung, Indonesia
Arif Sugiharto
Affiliation:
Mechanical Design Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Bandung, Indonesia
Enrico Franco
Affiliation:
The Mechatronics in Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, UK
Arnau Garriga-Casanovas
Affiliation:
The Mechatronics in Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, UK
Andi Isra Mahyuddin
Affiliation:
Mechanical Design Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Bandung, Indonesia
Ferdinando Rodriguez y Baena
Affiliation:
The Mechatronics in Medicine Laboratory, Mechanical Engineering Department, Imperial College London, London, UK
Sandro Mihradi
Affiliation:
Mechanical Design Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Bandung, Indonesia
Vani Virdyawan*
Affiliation:
Mechanical Production Engineering Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Bandung, Indonesia
*
Corresponding author: Vani Virdyawan; Email: vani.virdyawan@itb.ac.id
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Abstract

Fiber winding reinforcement is widely used in soft robotic manipulators actuated by pressurized fluids. However, the specific effect of each type of winding on the bending motion of a tubular soft robotics manipulator with three chambers has not been explored widely. We present the development of precise finite element (FE) simulations and investigate the effect of helical fiber winding parameters on the bending motion of a two-degree-of-freedom manipulator with three internal chambers. We first show the development of an FE simulation that optimizes convergence and computational time and precisely matches the behavior of soft robots in practice. Compared to single-chamber robots, simulating three-chamber designs is more challenging due to the complex geometry. We then apply our FE model to simulate all the parameter variations. We show that for helical winding with a constant pitch, the closer the center of a chamber is to the intersection of the windings, the lower the bending stiffness of the chamber is. To minimize bending stiffness variation in different bending directions, the optimal angle between the center of the first chamber and the intersection of the two helical windings are 0° and 12°. Reducing the pitch of the helical windings or using other types of windings (i.e., ring winding or six helical winding) reduces the stiffness variation across different bending directions. The FE simulations are compared with experiments showing that the model can capture complex bending behaviors of the manipulator, even though the estimation tends to be less accurate at higher bending angles.

Keywords

soft robotfinite element modelingsoft pneumatic actuatorfiber reinforcement
Type
Research Article
Information
Robotica , Volume 41 , Issue 12 , December 2023 , pp. 3608 - 3626
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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