Design and Modeling of an Elastic Inflatable Actuator to Achieve Single and Multiple Motions Through One Channel

N. Cruz-Santos, D. Martinez-Sanchez, M. Ruiz-Torres, X. Y. Sandoval-Castro, E. Castillo-Castaneda

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

Abstract

This paper presents the design and modeling of an elastic inflatable actuator, EIA, to generate single and multiple motions through only one channel. The morphology proposed is focused on an external and internal design based on crests with amplitude and length defined. The EIA geometry change in magnitude and direction when pressure or vacuum is applied, generating the multiple motions expanding-contracting. Besides, by adding a thicker layer to a 180 or 120 section in the EIA, a bending motion is generated in the direction where the greatest thickness of the material is located. We describe a detailed design of the EIA and the modeling by FEM analysis for both single and multiple motions. In addition, we introduce a soft linear manipulator by using both single and multiple-motions EIAs, we design a soft gripper with 3 bending motion EIAs; the soft linear manipulator is composed of the multiple motions expanding-contracting EIA connected to the gripper. The manipulator needs only two controlled pressure inputs, the first one generates a linear displacement along its transverse axis and the second one controls the soft gripper closing-opening.

Original languageEnglish
Title of host publicationLecture Notes in Networks and Systems
EditorsKaren Lizbeth Flores Rodríguez, Raymundo Ramos Alvarado, Masoud Barati, Veronica Segovia Tagle, Roberto Sostrand Velázquez González
PublisherSpringer Science and Business Media Deutschland GmbH
Pages209-219
Number of pages11
ISBN (Print)9783030820633
DOIs
StatePublished - 2022
Event2nd International Conference on Applied Science and Advanced Technology, ICASAT 2021 - Virtual, Online
Duration: 2 Jun 20213 Jun 2021

Publication series

NameLecture Notes in Networks and Systems
Volume297
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference2nd International Conference on Applied Science and Advanced Technology, ICASAT 2021
CityVirtual, Online
Period2/06/213/06/21

Keywords

  • Bidirectional movement
  • Elastomers
  • Negative pressure
  • Positive pressure
  • Soft actuator

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