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Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping

With the superior ductility and flexibility brought by compliant bodies, soft manipulators provide a nondestructive manner to grasp delicate objects, which has been developing gradually as a rising focus of soft robots. However, the unexpected phenomenon caused by environmental effects, leading to h...

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Autores principales: Zhu, Yinlong, Feng, Kai, Hua, Chao, Wang, Xu, Hu, Zhiqiang, Wang, Huaming, Su, Haijun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9230056/
https://www.ncbi.nlm.nih.gov/pubmed/35746314
http://dx.doi.org/10.3390/s22124532
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author Zhu, Yinlong
Feng, Kai
Hua, Chao
Wang, Xu
Hu, Zhiqiang
Wang, Huaming
Su, Haijun
author_facet Zhu, Yinlong
Feng, Kai
Hua, Chao
Wang, Xu
Hu, Zhiqiang
Wang, Huaming
Su, Haijun
author_sort Zhu, Yinlong
collection PubMed
description With the superior ductility and flexibility brought by compliant bodies, soft manipulators provide a nondestructive manner to grasp delicate objects, which has been developing gradually as a rising focus of soft robots. However, the unexpected phenomenon caused by environmental effects, leading to high internal nonlinearity and unpredictable deformation, makes it challenging to design, model, and control soft manipulators. In this paper, we designed a soft pneumatically actuated manipulator consisting of four soft actuators, as well as a flange, and investigated the influence of structural parameters on the output characteristics of the manipulator through finite element analysis (FEA). To enhance the bending deformation of the soft actuator, annular rings were employed on the soft actuator. A mathematical model for the bending deformation of air cavities was established to explore the relationship between the driving pressure and the bending angle based on the Yeoh strain energy function. Moreover, an end-output force model was established to depict the variation of the force output with the bending angle of the soft actuator, which was then experimentally validated by adopting the manufactured manipulator. The soft actuator studied in this paper can bend from 0° to 110° under an applied pressure of 0–60 kPa, and the maximum grasping load of the soft manipulator is 5.8 N. Finally, practical tests were conducted to assess the adaptability of the soft manipulator when grasping delicate fruits, such as apples, pears, tomatoes, and mangoes, demonstrating its broad application prospects in nondestructive fruit harvesting.
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spelling pubmed-92300562022-06-25 Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping Zhu, Yinlong Feng, Kai Hua, Chao Wang, Xu Hu, Zhiqiang Wang, Huaming Su, Haijun Sensors (Basel) Article With the superior ductility and flexibility brought by compliant bodies, soft manipulators provide a nondestructive manner to grasp delicate objects, which has been developing gradually as a rising focus of soft robots. However, the unexpected phenomenon caused by environmental effects, leading to high internal nonlinearity and unpredictable deformation, makes it challenging to design, model, and control soft manipulators. In this paper, we designed a soft pneumatically actuated manipulator consisting of four soft actuators, as well as a flange, and investigated the influence of structural parameters on the output characteristics of the manipulator through finite element analysis (FEA). To enhance the bending deformation of the soft actuator, annular rings were employed on the soft actuator. A mathematical model for the bending deformation of air cavities was established to explore the relationship between the driving pressure and the bending angle based on the Yeoh strain energy function. Moreover, an end-output force model was established to depict the variation of the force output with the bending angle of the soft actuator, which was then experimentally validated by adopting the manufactured manipulator. The soft actuator studied in this paper can bend from 0° to 110° under an applied pressure of 0–60 kPa, and the maximum grasping load of the soft manipulator is 5.8 N. Finally, practical tests were conducted to assess the adaptability of the soft manipulator when grasping delicate fruits, such as apples, pears, tomatoes, and mangoes, demonstrating its broad application prospects in nondestructive fruit harvesting. MDPI 2022-06-15 /pmc/articles/PMC9230056/ /pubmed/35746314 http://dx.doi.org/10.3390/s22124532 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Zhu, Yinlong
Feng, Kai
Hua, Chao
Wang, Xu
Hu, Zhiqiang
Wang, Huaming
Su, Haijun
Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping
title Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping
title_full Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping
title_fullStr Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping
title_full_unstemmed Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping
title_short Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping
title_sort model analysis and experimental investigation of soft pneumatic manipulator for fruit grasping
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9230056/
https://www.ncbi.nlm.nih.gov/pubmed/35746314
http://dx.doi.org/10.3390/s22124532
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