Static Modeling and Behavior Analysis of Soft Pneumatic Bending Grippers

被引：0
|
作者：
Hajebifard, Ahmadreza [1 ]
Ghafarirad, Hamed [1 ]
Barazandeh, Farshad [1 ]
机构：
[1] Amirkabir Univ Technol, Dept Mech Engn, Tehran, Iran
来源：
2022 10TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2022年
关键词：
soft robot; soft gripper; curved beam; finite element; external constraints; ACTUATORS;
D O I：
10.1109/ICRoM57054.2022.10025244
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Soft robots, due to their flexible characteristics, have the required potential to communicate and interact with soft, sensitive and living tissues. Therefore, static modeling and behavior analysis of these actuators in a gripper form are studied in this paper. For this purpose, the large deflection theory of curved beams is utilized and the effect of external forces caused by external objects is taken into account. Finally, the shape of the actuator and grasping results are validated by finite element analysis.
引用
收藏
页码：82 / 88
页数：7
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