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  4. Low-inertia vacuum-powered soft pneumatic actuator coil characterization and design methodology
 
conference paper

Low-inertia vacuum-powered soft pneumatic actuator coil characterization and design methodology

Robertson, Matthew Aaron  
•
Paik, Jamie  
2018
The first IEEE-RAS International Conference on Soft Robotics
RoboSoft

Recently developed soft pneumatic actuators (SPAs) powered by negative pressure have demonstrated great potential in the future of soft robotics for their high strength, intrinsic safety, low weight, and often simple design. The majority of these have only been demonstrated to provide linear force and motion profiles, however, despite the general prevalence of bending actuators common to positive pressure powered SPAs. The benefits of such bending type SPAs follow from the direct production of moment and angular motion that are highly desirable for diverse robotic applications and activities, which allows more simple design of soft robots with complex motion behavior. Following this motivation, a new vacuum powered bending actuator is developed here as an extension of a previously presented vacuum powered actuator, the V-SPA, which features simple, lightweight material construction and rapid fabrication. Leveraging these attributes, an empirical study of a new Coil V-SPA performance is conducted across a spectrum of eight actuator prototypes. The force, speed, and stiffness of the actuators are characterized, and a generalized design metric, the Geometric Compression Ratio (GCR), is defined to quantify the relationship between physical geometric parameters of Coil V-SPAs. Finally, the results of testing reveal the new low-inertia actuator is capable of highspeed, and high-bandwidth motion, up to 0.97 m/s and 1.58 Hz, respectively.

  • Details
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Type
conference paper
DOI
10.1109/ROBOSOFT.2018.8405364
Author(s)
Robertson, Matthew Aaron  
Paik, Jamie  
Date Issued

2018

Published in
The first IEEE-RAS International Conference on Soft Robotics
Total of pages

5

Subjects

Soft material actuators

•

Pneumatic actuators

•

Vacuum power

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
RRL  
NCCR-ROBOTICS  
Event nameEvent placeEvent date
RoboSoft

Livorno, Italy

April 24-28, 2018

Available on Infoscience
February 5, 2018
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/144629
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