文章基本信息

标题：Design and Analysis of a Soft Pneumatic Actuator to Develop Modular Soft Robotic Systems
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作者：Ahmad Mahmood Tahir ; Matteo Zoppi
期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2019
卷号：13
期号：1
页码：30-36
DOI：10.14313/JAMRIS_1-2019/4
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：In this paper, we describe the design and analysis ofa Soft Cubic Module (SCM) with a single internal pneumaticallyactuated chamber. The actuation chamber’sshape, size and, orientation have been evaluated to realizea soft robotic actuator which can be further employedfor the development of modular soft robotic systems.SCM can be easily manufactured through the moldingprocess and it is composed of single soft material, thesilicone polymer. Its external shape allows utilization ofthis module as a single block actuator as well as makesit easy to combine multiple SCM modules to build multiunitsoft robotic systems. We consider it as our first toolto investigate whether the SCM scheme is sufficient tobuild soft robots which would be able to perform certaingiven tasks in various configurations like a soft gripper,bio-mimetic crawling mechanism or multi-axis manipulator.So far, the results obtained are encouraging in orderto further develop and employ the SCM design scheme,focusing on its further geometrical optimization for bothstandalone configuration and assembly of multiple modulesto realize novel, economic and easy to fabricate softrobotic systems.
关键词：Soft actuator; pneumatic actuation; soft;robotic mechanism; Modularity; Scalability