A Modular Geometrical Framework for Modelling the Force-Contraction Profile of Vacuum-Powered Soft Actuators
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frobt-08-606938.pdf
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Author(s)
Gollob, Samuel Dutra
Park, Clara
Koo, Bon Ho Brandon
Roche, Ellen
Date Issued
March 2021
Journal
Frontiers in Robotics and AI
Publisher
Frontiers Media SA
Citation
Gollob, Samuel Dutra et al. "A Modular Geometrical Framework for Modelling the Force-Contraction Profile of Vacuum-Powered Soft Actuators." Frontiers in Robotics and AI 8 (March 2021): 606938. © 2021 Gollob et al.
Version
Final published version
Abstract
In this paper, we present a generalized modeling tool for predicting the output force profile of vacuum-powered soft actuators using a simplified geometrical approach and the principle of virtual work. Previous work has derived analytical formulas to model the force-contraction profile of specific actuators. To enhance the versatility and the efficiency of the modelling process we propose a generalized numerical algorithm based purely on geometrical inputs, which can be tailored to the desired actuator, to estimate its force-contraction profile quickly and for any combination of varying geometrical parameters. We identify a class of linearly contracting vacuum actuators that consists of a polymeric skin guided by a rigid skeleton and apply our model to two such actuators-vacuum bellows and Fluid-driven Origami-inspired Artificial Muscles-to demonstrate the versatility of our model. We perform experiments to validate that our model can predict the force profile of the actuators using its geometric principles, modularly combined with design-specific external adjustment factors. Our framework can be used as a versatile design tool that allows users to perform parametric studies and rapidly and efficiently tune actuator dimensions to produce a force-contraction profile to meet their needs, and as a pre-screening tool to obviate the need for multiple rounds of time-intensive actuator fabrication and testing.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Institute for Medical Engineering & Science
Terms of Use
Creative Commons Attribution 4.0 International license
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DOI of Published Version
https://doi.org/10.3389/frobt.2021.606938
