الفهرس | Only 14 pages are availabe for public view |
Abstract Soft actuators have recently been gaining popularity in robotics because of their higher flexibility, lightweight, low cost, and simplicity of fabrication. Traditional rigid grippers have been used widely in industrial applications for a long time. However, when conventional rigid grippers are used, the shape of the grabbing object must be considered when designing the gripper surface. As a result, the gripper can only hold a limited number of things and, occasionally, a unique object. In this thesis, a geometrical parameter is developed by studying the influence of the thickness of the change of the chamber wall, the thickness of the base, and the chamber angle on the SPA work envelope when applying a wide range of positive pressure to the inner surfaces of Spas. Soft pneumatic actuator (SPA’s) models with large and small thickness ratios are compared using FEM. The simulation demonstrates that increasing the wall thickness ratio of the model provides a greater bending angle than the model with a lower wall thickness ratio at the same input pressure. Also, for the change of the chamber angle at an angle equal to zero, the SPAs provide a bending angle only, but when the chamber angle increases, the SPAs provide bending and twisting together. The proposed models still maintain the air surface area inside the actuator. Furthermore, it was observed that compared to the model of the other models, the wall thickness ratio model has the most significant effect on the bending and twisting angles. Finally, an increase in deformation was observed in 60% and 44.5% of bending and twisting together due to a change in the SPA’s wall thickness. |