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소프트 그리퍼를 위한 저압 구동 소프트 액추에이터의 설계

Title
소프트 그리퍼를 위한 저압 구동 소프트 액추에이터의 설계
Translated Title
Design of Low Pressure Driven Soft Actuators for Soft Gripper
Authors
Yoon, JingonYun, Dongwon
DGIST Authors
Yoon, Jingon; Yun, Dongwon
Issue Date
2021-03
Citation
로봇학회 논문지, 16(1), 23-28
Type
Article
Author Keywords
Soft RoboticsSoft Actuator
ISSN
1975-6291
Abstract
The gripper with a soft pneumatic actuator uses a soft material, unlike the gripper that uses a rigid body, so it is safer and lighter to interact with objects without advanced control technology. Among the soft pneumatic actuators that have been studied, PneuNets actuators have bellows shape, which enable quick operation and complete bending with only small material deformation at low pressure. In this study, we suggested improved form of PneuNets actuators to obtain the performance of the soft actuator that a larger bending angle and larger bending force at a small pressure. An experiment was designed and conducted to measure the bending angle and bending force according to the pressure. As a result, it was confirmed through experiments that the improved model has a maximum bending angle at a pressure of 5 kPa lower than that of the previous model, and a maximum bending force of 1.97 times at the same pressure.
URI
http://hdl.handle.net/20.500.11750/13693
DOI
10.7746/jkros.2021.16.1.023
Publisher
한국로봇학회
Related Researcher
  • Author Yun, Dongwon Bio Robotics and Mechatronics Laboratory
  • Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
Files:
There are no files associated with this item.
Collection:
Department of Robotics and Mechatronics EngineeringBio Robotics and Mechatronics Laboratory1. Journal Articles


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