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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, Jingon; Yun, Dongwon
- DGIST Authors
- Yoon, Jingon; Yun, Dongwon
- Issue Date
- 2021-03
- Citation
- 로봇학회 논문지, 16(1), 23-28
- Type
- Article
- Author Keywords
- Soft Robotics; Soft 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
-
-
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:
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- Collection:
- Department of Robotics and Mechatronics EngineeringBio Robotics and Mechatronics Laboratory1. Journal Articles
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