Extension-type flexible pneumatic actuator with a large extension force using a cross-link mechanism based on pantographs

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical Pub Date : 2025-04-18 DOI:10.1016/j.sna.2025.116594

So Shimooka , Kazuma Tadachi , Tetsushi Kamegawa

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引用次数: 0

Abstract

In this study, we propose an extension-type flexible pneumatic actuator (EFPA) with a high extension force and no buckling. In a previous study, soft actuators that extended in the axial direction by applying a supply pressure were unable to generate the extension’s pushing force because the actuators buckled owing to their high flexibility. To generate a pushing force, the circumferential stiffness of an extension-type flexible soft actuator must be reinforced. Therefore, a cross-linked EFPA (CL-EFPA) was developed, inspired by a pantograph that restrains the EFPA three-dimensionally using the proposed link mechanism. The proposed CL-EFPA consists of three EFPAs and a cross-linking mechanism for integrating each EFPA circumference. The pushing force of the CL-EFPA is approximately 3.0 times compared with that generated by the previous EFPA with plates to restrain its plane. To perform various bending motions, attitude control was performed using an analytical model and a system that included valves, sensors, and controllers.

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伸缩式柔性气动执行机构采用基于受电弓的交联机构，具有较大的伸缩力

在这项研究中，我们提出了一种伸直式柔性气动执行器（EFPA），具有高伸直力和无屈曲。在之前的一项研究中，通过施加供应压力向轴向扩展的软执行器无法产生扩展的推力，因为执行器由于其高柔性而屈曲。为了产生推力，伸缩型柔性软作动器的周向刚度必须得到增强。因此，受受电弓的启发，一种交联EFPA （CL-EFPA）被开发出来，该受电弓利用所提出的链接机制在三维上约束EFPA。拟议的CL-EFPA由三个EFPA和一个用于整合每个EFPA周长的交联机制组成。CL-EFPA的推力约为先前有板约束其平面的EFPA的3.0倍。为了执行各种弯曲运动，姿态控制使用了一个分析模型和一个包括阀门、传感器和控制器的系统。

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来源期刊

Sensors and Actuators A-physical 工程技术-工程：电子与电气

CiteScore

8.10

自引率

6.50%

发文量

630

审稿时长

49 days

期刊介绍： Sensors and Actuators A: Physical brings together multidisciplinary interests in one journal entirely devoted to disseminating information on all aspects of research and development of solid-state devices for transducing physical signals. Sensors and Actuators A: Physical regularly publishes original papers, letters to the Editors and from time to time invited review articles within the following device areas: • Fundamentals and Physics, such as: classification of effects, physical effects, measurement theory, modelling of sensors, measurement standards, measurement errors, units and constants, time and frequency measurement. Modeling papers should bring new modeling techniques to the field and be supported by experimental results. • Materials and their Processing, such as: piezoelectric materials, polymers, metal oxides, III-V and II-VI semiconductors, thick and thin films, optical glass fibres, amorphous, polycrystalline and monocrystalline silicon. • Optoelectronic sensors, such as: photovoltaic diodes, photoconductors, photodiodes, phototransistors, positron-sensitive photodetectors, optoisolators, photodiode arrays, charge-coupled devices, light-emitting diodes, injection lasers and liquid-crystal displays. • Mechanical sensors, such as: metallic, thin-film and semiconductor strain gauges, diffused silicon pressure sensors, silicon accelerometers, solid-state displacement transducers, piezo junction devices, piezoelectric field-effect transducers (PiFETs), tunnel-diode strain sensors, surface acoustic wave devices, silicon micromechanical switches, solid-state flow meters and electronic flow controllers. Etc...