Design and characterization of a 3d printed soft pneumatic actuator

Ditzia Susana Garcia Morales; Serhat Ibrahim; Benjamin Hieu Cao; Annika Raatz

doi:10.1007/978-3-030-55061-5_55

Design and characterization of a 3d printed soft pneumatic actuator

Ditzia Susana Garcia Morales^*, Serhat Ibrahim, Benjamin Hieu Cao, Annika Raatz

^*Corresponding author for this work

Institute for Assembly Technology and Robotics

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Abstract

In soft robotics, the successful development of soft robots involves careful designing that can benefit from current technologies. The use of Finite Element Method (FEM) software and additive manufacturing is essential to optimize the design before fabrication and to facilitate the process. Therefore, we present the design of a 3D printed low-pressure soft pneumatic actuator (SPA) with 3 DoF and a material characterization method to simulate the behaviour of the system. In attempt to define a suitable material modelling method and its reliability to simulate actuator behaviours, we introduce a characterization method and corroborate its efficiency through the evaluation of the performance using the FEM and preliminary tests of the actuator performance. The purpose of this article is to help future projects to effectively simulate the behaviour of 3D printed soft pneumatic actuators to improve the design before fabrication. Throughout the description of the process to effectively fabricate a functional SPA.

Original language	English
Title of host publication	New Trends in Mechanism and Machine Science
Subtitle of host publication	EuCoMeS
Publisher	Springer, Cham
Pages	488-495
Number of pages	8
ISBN (Electronic)	978-3-030-55061-5
ISBN (Print)	978-3-030-55060-8, 978-3-030-55063-9
DOIs	https://doi.org/10.1007/978-3-030-55061-5_55 https://doi.org/10.15488/14440
Publication status	Published - 21 Aug 2020
Event	8th European Conference on Mechanism Science (EuCoMeS) - Duration: 7 Sept 2020 → 10 Sept 2020 Conference number: 8

Publication series

Name	Mechanisms and Machine Science
Publisher	Springer Netherlands
Volume	89
ISSN (Print)	2211-0984

Conference

Conference	8th European Conference on Mechanism Science (EuCoMeS)
Abbreviated title	EuCoMeS
Period	7 Sept 2020 → 10 Sept 2020

Keywords

Material characterization
Modelling
Soft actuators
Soft robotics

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

Access to Document

10.1007/978-3-030-55061-5_55
10.15488/14440Licence: Other

Cite this

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title = "Design and characterization of a 3d printed soft pneumatic actuator",

abstract = "In soft robotics, the successful development of soft robots involves careful designing that can benefit from current technologies. The use of Finite Element Method (FEM) software and additive manufacturing is essential to optimize the design before fabrication and to facilitate the process. Therefore, we present the design of a 3D printed low-pressure soft pneumatic actuator (SPA) with 3 DoF and a material characterization method to simulate the behaviour of the system. In attempt to define a suitable material modelling method and its reliability to simulate actuator behaviours, we introduce a characterization method and corroborate its efficiency through the evaluation of the performance using the FEM and preliminary tests of the actuator performance. The purpose of this article is to help future projects to effectively simulate the behaviour of 3D printed soft pneumatic actuators to improve the design before fabrication. Throughout the description of the process to effectively fabricate a functional SPA.",

keywords = "Material characterization, Modelling, Soft actuators, Soft robotics",

author = "{Garcia Morales}, {Ditzia Susana} and Serhat Ibrahim and Cao, {Benjamin Hieu} and Annika Raatz",

note = "Funding Information: Acknowledgements. This work was supported by the Deutsche Forschungsgemein-schaft (DFG, German Research Foundation) 405030609. ; 8th European Conference on Mechanism Science (EuCoMeS), EuCoMeS ; Conference date: 07-09-2020 Through 10-09-2020",

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Garcia Morales, DS, Ibrahim, S, Cao, BH & Raatz, A 2020, Design and characterization of a 3d printed soft pneumatic actuator. in New Trends in Mechanism and Machine Science : EuCoMeS. Mechanisms and Machine Science, vol. 89, Springer, Cham, pp. 488-495, 8th European Conference on Mechanism Science (EuCoMeS), 7 Sept 2020. https://doi.org/10.1007/978-3-030-55061-5_55, https://doi.org/10.15488/14440

Design and characterization of a 3d printed soft pneumatic actuator. / Garcia Morales, Ditzia Susana; Ibrahim, Serhat; Cao, Benjamin Hieu et al.
New Trends in Mechanism and Machine Science : EuCoMeS. Springer, Cham, 2020. p. 488-495 (Mechanisms and Machine Science; Vol. 89).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

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T1 - Design and characterization of a 3d printed soft pneumatic actuator

AU - Garcia Morales, Ditzia Susana

AU - Ibrahim, Serhat

AU - Cao, Benjamin Hieu

AU - Raatz, Annika

N1 - Conference code: 8

PY - 2020/8/21

Y1 - 2020/8/21

N2 - In soft robotics, the successful development of soft robots involves careful designing that can benefit from current technologies. The use of Finite Element Method (FEM) software and additive manufacturing is essential to optimize the design before fabrication and to facilitate the process. Therefore, we present the design of a 3D printed low-pressure soft pneumatic actuator (SPA) with 3 DoF and a material characterization method to simulate the behaviour of the system. In attempt to define a suitable material modelling method and its reliability to simulate actuator behaviours, we introduce a characterization method and corroborate its efficiency through the evaluation of the performance using the FEM and preliminary tests of the actuator performance. The purpose of this article is to help future projects to effectively simulate the behaviour of 3D printed soft pneumatic actuators to improve the design before fabrication. Throughout the description of the process to effectively fabricate a functional SPA.

AB - In soft robotics, the successful development of soft robots involves careful designing that can benefit from current technologies. The use of Finite Element Method (FEM) software and additive manufacturing is essential to optimize the design before fabrication and to facilitate the process. Therefore, we present the design of a 3D printed low-pressure soft pneumatic actuator (SPA) with 3 DoF and a material characterization method to simulate the behaviour of the system. In attempt to define a suitable material modelling method and its reliability to simulate actuator behaviours, we introduce a characterization method and corroborate its efficiency through the evaluation of the performance using the FEM and preliminary tests of the actuator performance. The purpose of this article is to help future projects to effectively simulate the behaviour of 3D printed soft pneumatic actuators to improve the design before fabrication. Throughout the description of the process to effectively fabricate a functional SPA.

KW - Material characterization

KW - Modelling

KW - Soft actuators

KW - Soft robotics

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Design and characterization of a 3d printed soft pneumatic actuator

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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