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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...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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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. |
format | Online Article Text |
id | pubmed-9230056 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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