File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1007/s10846-023-01892-5
- Scopus: eid_2-s2.0-85160953056
- WOS: WOS:000999648400002
- Find via
Supplementary
- Citations:
- Appears in Collections:
Article: Self-Pumping Actuation Module and its Application in Untethered Soft Robots
Title | Self-Pumping Actuation Module and its Application in Untethered Soft Robots |
---|---|
Authors | |
Keywords | Pneumatic actuator Soft pump Soft quadrupedal robot Soft robotic gripper Untethered soft robot |
Issue Date | 1-Jun-2023 |
Publisher | Springer |
Citation | Journal of Intelligent and Robotic Systems, 2023, v. 108, n. 2 How to Cite? |
Abstract | Pneumatically driven soft actuators have been widely used in soft material robotics. However, soft pneumatic actuators are usually tethered to a rigid pump or compressor, which is complicated, cumbersome and noisy. In this study, we present a novel self-pumping actuation module which is composed of a soft origami pump, two soft pneumatic actuators, a servo motor, a controller and battery. During a working cycle, the soft pump is compressed or restored by pulling or releasing the tendons using the servo motor. As a consequence, the pneumatic actuators connected to the pump generate bending and restoring deformations. Moreover, the air flow inside the proposed module is closed-loop without exchanging air with the environment, making it possible to operation in certain scenarios such as in underwater or vacuum conditions, the advantage of our designed self-pumping actuation module is to recycle air without relying on a large rigid air pump. Theoretical model of the self-pumping actuation module is derived and its performance is characterized via several experiments. The maximum bending speed by the soft actuator is 239.2° s−1, the maximum compression speed of origami pump is 38.2 mm s−1, the maximum pressure inside the pump is 48 kPa, the maximum internal flow rate of pump is 11.5 L min−1, and the maximum torque of actuator is 0.0455 N·m. A soft robotic gripper, a fully untethered quadrupedal soft swimming robot and a rehabilitation glove are fabricated to show the superiority of the proposed design over traditional pneumatically actuated soft robots. |
Persistent Identifier | http://hdl.handle.net/10722/331425 |
ISSN | 2023 Impact Factor: 3.1 2023 SCImago Journal Rankings: 0.960 |
ISI Accession Number ID |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yang, Y | - |
dc.contributor.author | Xie, Y | - |
dc.contributor.author | Liu, J | - |
dc.contributor.author | Pei, JA | - |
dc.contributor.author | Chen, YH | - |
dc.date.accessioned | 2023-09-21T06:55:36Z | - |
dc.date.available | 2023-09-21T06:55:36Z | - |
dc.date.issued | 2023-06-01 | - |
dc.identifier.citation | Journal of Intelligent and Robotic Systems, 2023, v. 108, n. 2 | - |
dc.identifier.issn | 0921-0296 | - |
dc.identifier.uri | http://hdl.handle.net/10722/331425 | - |
dc.description.abstract | <p>Pneumatically driven soft actuators have been widely used in soft material robotics. However, soft pneumatic actuators are usually tethered to a rigid pump or compressor, which is complicated, cumbersome and noisy. In this study, we present a novel self-pumping actuation module which is composed of a soft origami pump, two soft pneumatic actuators, a servo motor, a controller and battery. During a working cycle, the soft pump is compressed or restored by pulling or releasing the tendons using the servo motor. As a consequence, the pneumatic actuators connected to the pump generate bending and restoring deformations. Moreover, the air flow inside the proposed module is closed-loop without exchanging air with the environment, making it possible to operation in certain scenarios such as in underwater or vacuum conditions, the advantage of our designed self-pumping actuation module is to recycle air without relying on a large rigid air pump. Theoretical model of the self-pumping actuation module is derived and its performance is characterized via several experiments. The maximum bending speed by the soft actuator is 239.2° s−1, the maximum compression speed of origami pump is 38.2 mm s−1, the maximum pressure inside the pump is 48 kPa, the maximum internal flow rate of pump is 11.5 L min−1, and the maximum torque of actuator is 0.0455 N·m. A soft robotic gripper, a fully untethered quadrupedal soft swimming robot and a rehabilitation glove are fabricated to show the superiority of the proposed design over traditional pneumatically actuated soft robots.</p> | - |
dc.language | eng | - |
dc.publisher | Springer | - |
dc.relation.ispartof | Journal of Intelligent and Robotic Systems | - |
dc.rights | This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License. | - |
dc.subject | Pneumatic actuator | - |
dc.subject | Soft pump | - |
dc.subject | Soft quadrupedal robot | - |
dc.subject | Soft robotic gripper | - |
dc.subject | Untethered soft robot | - |
dc.title | Self-Pumping Actuation Module and its Application in Untethered Soft Robots | - |
dc.type | Article | - |
dc.identifier.doi | 10.1007/s10846-023-01892-5 | - |
dc.identifier.scopus | eid_2-s2.0-85160953056 | - |
dc.identifier.volume | 108 | - |
dc.identifier.issue | 2 | - |
dc.identifier.eissn | 1573-0409 | - |
dc.identifier.isi | WOS:000999648400002 | - |
dc.identifier.issnl | 0921-0296 | - |