Topology Optimization Design and Experiment of a Soft Pneumatic Bending Actuator for Grasping Applications

Chih Hsing Liu, Li Jyun Chen, Jui Chih Chi, Jyun Yi Wu

研究成果: Article同行評審

2 引文 斯高帕斯(Scopus)


Soft pneumatic bending actuators are commonly used in robotic grasping applications and can be applied for handling both delicate and irregularlyshaped objects. Because these soft pneumatic actuators are typically embedded with multiple air chambers inside soft, thin structures, their maximum payloads are usually low compared to rigid designs of similar size. This article presents a soft pneumatic bending actuator design using a topology optimization procedure that can maximize the bending capability and thus increase the allowable payload of soft grippers that consist of multiple pneumatic bending actuators. After an optimum design is obtained, multiple identical actuators are prototyped through a molding process using a silicone rubber material. Both two-fingered and three-fingered soft grippers are developed using the topology-optimized pneumatic bending actuators. Experiments, including a bending angle test, an output force test, and a payload test, are conducted in this study,and the results are compared against the test results of the commercial SRT soft pneumatic actuator. The experimental results show that the bending angle for the developed bending actuator is 111 degrees on average of 10 tests at an input pressure of 50 kPa. The output force is 9.45 N at an input pressure of 80 kPa, while the maximum payloads of the two-fingered and three-fingered grippers are 2.66 kg and 5.12 kg, respectively.

頁(從 - 到)2086-2093
期刊IEEE Robotics and Automation Letters
出版狀態Published - 2022 4月 1

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 生物醫學工程
  • 人機介面
  • 機械工業
  • 電腦視覺和模式識別
  • 電腦科學應用
  • 控制和優化
  • 人工智慧


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