TY - GEN
T1 - Design and Modeling of an Elastic Inflatable Actuator to Achieve Single and Multiple Motions Through One Channel
AU - Cruz-Santos, N.
AU - Martinez-Sanchez, D.
AU - Ruiz-Torres, M.
AU - Sandoval-Castro, X. Y.
AU - Castillo-Castaneda, E.
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - Bidirectional movement
KW - Elastomers
KW - Negative pressure
KW - Positive pressure
KW - Soft actuator
UR - http://www.scopus.com/inward/record.url?scp=85119880734&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-82064-0_17
DO - 10.1007/978-3-030-82064-0_17
M3 - Contribución a la conferencia
AN - SCOPUS:85119880734
SN - 9783030820633
T3 - Lecture Notes in Networks and Systems
SP - 209
EP - 219
BT - Recent Trends in Sustainable Engineering - Proceedings of the 2nd International Conference on Applied Science and Advanced Technology
A2 - Flores Rodríguez, Karen Lizbeth
A2 - Ramos Alvarado, Raymundo
A2 - Barati, Masoud
A2 - Segovia Tagle, Veronica
A2 - Velázquez González, Roberto Sostrand
PB - Springer Science and Business Media Deutschland GmbH
T2 - 2nd International Conference on Applied Science and Advanced Technology, ICASAT 2021
Y2 - 2 June 2021 through 3 June 2021
ER -