2026-09-19T13:32:52Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1394812022-01-15T04:09:55Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Roche, Ellen
Gollob, Samuel Dutra
Massachusetts Institute of Technology. Department of Mechanical Engineering
2022-01-14T15:14:33Z
2022-01-14T15:14:33Z
2021-06
2021-06-30T15:23:50.578Z
https://hdl.handle.net/1721.1/139481
In this thesis, 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 (FOAMs) - 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.
The work presented here was published in Frontiers in Robotics and AI on 03 March 2021, “A Modular Geometrical Framework for Modelling the Force-Contraction Profile of Vacuum-Powered Soft Actuators,” by S. Gollob et al. Figures reproduced from this work are referenced following the journal's open-access Creative Commons practices.
S.M.
Massachusetts Institute of Technology
In Copyright - Educational Use Permitted
Copyright MIT
http://rightsstatements.org/page/InC-EDU/1.0/
Generalizable Modelling of Vacuum-Powered Soft Actuators And Its Use in Design for Mechanical Assistive Applications
Thesis
application/pdf
Master
Master of Science in Mechanical Engineering
Publication
unknown
unknown
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<Abstract>In this thesis, 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 (FOAMs) - 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.
The work presented here was published in Frontiers in Robotics and AI on 03 March 2021, “A Modular Geometrical Framework for Modelling the Force-Contraction Profile of Vacuum-Powered Soft Actuators,” by S. Gollob et al. Figures reproduced from this work are referenced following the journal's open-access Creative Commons practices.</Abstract>
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