Herzig, N., Jones, J., Perez Guagnelli, E. et al. (1 more author) (2021) Model and validation of a highly extensible and tough actuator based on a ballooning membrane. In: Proceedings of 2021 International Conference on Robotics and Automation (ICRA 2021). International Conference on Robotics and Automation (ICRA 2021), 30 May - 05 Jun 2021, Xi’an, China. IEEE (Institute of Electrical and Electronics Engineers) , pp. 11961-11967. ISBN 9781728190785
Abstract
Soft robots are known for their ability to comply and having superior extensibility. However, one of the limitations of most of these robots is that they can stand only a limited amount of load before buckling, and they feature a non-negligible initial height. Hybrid soft-rigid actuators seem to offer a trade-off between compliance and the amount of load they can withstand, but only a few simple models have been proposed to describe the behavior of these actuators. In this paper, we propose a design, model and experimental validation of a soft actuator based on stackable Hyperelastic Ballooning Membranes (HBMA). This actuator shows an extensibility higher than 179%, as well as an ability to stand more than 20 times its own weight at a pressure as low as 35 kPa. Two models, giving the dynamic behavior of the HBMA in terms of displacement and pressure, have been derived from different hyperelastic models (Neo-Hookean and Mooney-Rivlin) and compared in terms of accuracy and robustness. Finally, an example of a hybrid soft-rigid continuum ballooning robot built with HBMAs is presented and characterized experimentally.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Actuators; Automation; Conferences; Soft robotics; Robustness; Load modeling |
Dates: |
|
Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Funding Information: | Funder Grant number Engineering and Physical Science Research Council EP/S021035/1 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 14 Jul 2021 08:30 |
Last Modified: | 18 Oct 2022 00:19 |
Status: | Published |
Publisher: | IEEE (Institute of Electrical and Electronics Engineers) |
Refereed: | Yes |
Identification Number: | 10.1109/ICRA48506.2021.9561091 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:176016 |