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Design and experiment of a pneumatic self-repairing soft actuator

Published online by Cambridge University Press:  14 February 2023

Zhaoyu Liu ,
Yuxuan Wang Open the ORCID record for Yuxuan Wang [Opens in a new window] ,
Shaoke Yuan  and
Yanqiong Fei Open the ORCID record for Yanqiong Fei [Opens in a new window]
Zhaoyu Liu
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China
Yuxuan Wang
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China
Shaoke Yuan
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China
Yanqiong Fei*
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China Shenzhen Research Institute, Shanghai Jiao Tong University, Shenzhen, China
*
*Corresponding author. E-mail: fyq_sjtu@163.com
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Abstract

This paper presents a study on the design and modeling of a novel pneumatic self-repairing soft actuator. The self-repairing soft actuator is composed of driving element, heating element, and repairing element. The driving element completes the deformation of the self-repairing soft actuator. The heating element and the repairing element complete the self-repairing function of the self-repairing soft actuator. A model used to optimize the structure is established, and the structure of the self-repairing soft actuator is determined through finite element analysis and experiment. The self-repairing time model of the soft actuator is established. The influences of different factors on the self-repairing effect and the self-repairing time are analyzed. The self-repairing scheme of the soft actuator is determined. Experiments show that the shortest time for the self-repairing soft actuator to complete the self-repairing process is 83 min. When the self-repairing soft actuator works normally, the bending angle can reach 129.8° and the bending force can reach 24.96 N. After repairing, the bending angle can reach 108.2°, and the bending force can reach 21.85 N. The repaired soft actuator can complete normal locomotion.

Keywords

soft actuatorself-repairingpneumaticstructural optimization
Type
Research Article
Information
Robotica , Volume 41 , Issue 6 , June 2023 , pp. 1812 - 1827
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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