Analysis and Comparison of 3D Printed Soft Pneumatic Actuator Configurations for Swaying Lateral Motion of Planar Objects
Abstract
Soft pneumatic actuators (SPAs) offer unique possibilities in robotics and automation due to their compliance and versatility. Unlike conventional actuators that can move either revolute or prismatic, SPAs can produce complex motions, especially when configured in combinations. This paper systematically investigated the performance of four distinct SPA configurations (Types 1-4) concerning the task of moving a planar square object and swaying it laterally to the right and left. These configurations are analyzed for their ability to achieve desired movements and orientations. Type 4, involving two SPAs, emerges as the most effective configuration, successfully navigating the challenges posed by the desired task. In contrast, Type 2, consisting of four SPAs, encounters difficulties in executing the task attributed to increased inertia, which was similar as type 3. Types 1, while not precisely meeting the primary task, reveal distinctive movements - left-right motion without orientation change. This study contributes valuable insights into the complex dynamics of SPAs, offering considerations for optimal design and performance. The outcomes could be developed in the future in soft actuator applications, especially those involving configurations based on specific needs.
Downloads
References
S. Kim, C. Laschi, and B. Trimmer, “Soft robotics: a bioinspired evolution in robotics,” Trends Biotechnol, vol. 31, no. 5, pp. 287–294, May 2013, doi: 10.1016/J.TIBTECH.2013.03.002.
D. Rus and M. T. Tolley, “Design, fabrication and control of soft robots,” Nature, vol. 521, no. 7553, pp. 467–475, 2015, doi: 10.1038/nature14543.
N. Tan, X. Gu, and H. Ren, “Design, characterization and applications of a novel soft actuator driven by flexible shafts,” Mech Mach Theory, vol. 122, pp. 197–218, 2018, doi: 10.1016/j.mechmachtheory.2017.12.021.
X. Tang et al., “A Review of Soft Actuator Motion: Actuation, Design, Manufacturing and Applications,” Actuators, vol. 11, no. 11, p. 331, Nov. 2022, doi: 10.3390/act11110331.
A. D. Marchese, R. Tedrake, and D. Rus, “Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator,” International Journal of Robotics Research, vol. 35, no. 8, pp. 1000–1019, 2016, doi: 10.1177/0278364915587926.
C. Tawk and G. Alici, “A Review of 3D‐Printable Soft Pneumatic Actuators and Sensors: Research Challenges and Opportunities,” Advanced Intelligent Systems, vol. 3, no. 6, p. 2000223, 2021, doi: 10.1002/aisy.202000223.
G. M. Whitesides, “Soft Robotics,” Angewandte Chemie - International Edition, vol. 57, no. 16, pp. 4258–4273, 2018, doi: 10.1002/anie.201800907.
H. K. Yap, H. Y. Ng, and C. H. Yeow, “High-Force Soft Printable Pneumatics for Soft Robotic Applications,” Soft Robot, vol. 3, no. 3, pp. 144–158, 2016, doi: 10.1089/soro.2016.0030.
A. Zolfagharian et al., “actuators : fabrication , modelling , and control and control,” 2020, doi: 10.1080/17452759.2020.1795209.
N. Gariya, P. Kumar, B. Prasad, and T. Singh, “Soft pneumatic actuator with an embedded flexible polymeric piezoelectric membrane for sensing bending deformation,” Mater Today Commun, vol. 35, Jun. 2023, doi: 10.1016/j.mtcomm.2023.105910.
Syahirul Alim Ritonga, “Analysis of The Effect of Dimensions, Number of Chambers, and Geometry on Strength and Curvature of 3D Printed Soft Pneumatic Actuator As a Stroke Rehabilitation Glove,” Bachelor Thesis, Universitas Gadjah Mada, Yogyakarta, 2019.
Laschi C, Mazzolai B, and Cianchetti M, “Soft robotics: Technologies and systems pushing the boundaries of robot abilities,” Sci Robot, vol. 1, no. 1, Dec. 2016.
M. Paterna, C. De Benedictis, and C. Ferraresi, “The Research on Soft Pneumatic Actuators in Italy: Design Solutions and Applications,” Actuators, vol. 11, no. 11. MDPI, Nov. 10, 2022. doi: 10.3390/act11110328.
S. Alim Ritonga, “Comparative Analysis of Custom-Designed Soft Pneumatic Actuators for Human Thumb Movement in Post-Stroke Rehabilitation.” [Online]. Available: http://inotera.poltas.ac.id
J. Paek, I. Cho, and J. Kim, “Microrobotic tentacles with spiral bending capability based on shape-engineered elastomeric microtubes,” Sci Rep, vol. 5, Jun. 2015, doi: 10.1038/srep10768.
E. Siéfert, E. Reyssat, J. Bico, and B. Roman, “Bio-inspired pneumatic shape-morphing elastomers,” Nature Materials, vol. 18, no. 1. Nature Publishing Group, pp. 24–28, Jan. 01, 2019. doi: 10.1038/s41563-018-0219-x.
J. Shintake, V. Cacucciolo, D. Floreano, and H. Shea, “Soft Robotic Grippers,” Advanced Materials, vol. 30, no. 29, 2018, doi: 10.1002/adma.201707035.
M. Manns, Morales, and P. F. Fo, “Additive manufacturing of silicon based PneuNets as soft robotic,” Procedia CIRP, vol. 72, pp. 328–333, 2018, doi: 10.1016/j.procir.2018.03.186.
B. Mosadegh et al., “Pneumatic Networks for Soft Robotics that Actuate Rapidly,” pp. 2163–2170, 2014, doi: 10.1002/adfm.201303288.
S. Wakimoto, K. Suzumori, and K. Ogura, “Miniature pneumatic curling rubber actuator generating bidirectional motion with one air-supply tube,” Advanced Robotics, vol. 25, no. 9–10, pp. 1311–1330, 2011, doi: 10.1163/016918611X574731.
