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Combined analytical-FE modeling of the deformation mechanisms and forces in soft PneuNets bending actuators
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Nikolov, Svetoslav, Liu, Zhu, Wang, Fujun, Liu, Shoufeng, Kostadinov, Kostadin, Koytchev, Evgeni and Tian, Yanling (2022) Combined analytical-FE modeling of the deformation mechanisms and forces in soft PneuNets bending actuators. In: IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO), Tianjin, China, 08-12 Aug 2022. Published in: 2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) pp. 301-306. ISBN 9781665475440. doi:10.1109/3M-NANO56083.2022.9941699 ISSN 2373-5422.
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Official URL: http://dx.doi.org/10.1109/3M-NANO56083.2022.994169...
Abstract
We consider the mechanical behavior of soft pneumatic network bending actuators (PneuNets) consisting of a series of chambers made of elastomeric material and fixed to an inextensible bottom layer. The pressure-induced bending angle in free space, as well as the contact force between the actuator tip and an external rigid obstacle are modeled with combined analytical-Finite Elements (FE) approach. We propose two distinct mechanisms for free-end bending, namely, bending of the bottom layer, and bending due to the contact forces between inflated membranes of neighboring chambers. It is found that the main contribution to the total free-end bending angle comes from bending of the inextensible layer, as opposed to bending entirely due to membrane-membrane interactions. It is also found that the pressure-induced contact force between the actuator tip and an obstacle is solely due to the membrane force of the chamber at the actuator's free end and the related moments. The model predictions are compared to FE simulations and experimental data obtained from testing of an in-house fabricated prototype.
Item Type: | Conference Item (Paper) | ||||||
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||
Journal or Publication Title: | 2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) | ||||||
Publisher: | IEEE | ||||||
ISBN: | 9781665475440 | ||||||
ISSN: | 2373-5422 | ||||||
Book Title: | 2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) | ||||||
Official Date: | 16 November 2022 | ||||||
Dates: |
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Page Range: | pp. 301-306 | ||||||
DOI: | 10.1109/3M-NANO56083.2022.9941699 | ||||||
Status: | Peer Reviewed | ||||||
Publication Status: | Published | ||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||
Copyright Holders: | IEEE | ||||||
Conference Paper Type: | Paper | ||||||
Title of Event: | IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) | ||||||
Type of Event: | Conference | ||||||
Location of Event: | Tianjin, China | ||||||
Date(s) of Event: | 08-12 Aug 2022 | ||||||
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