Automatic design of fiber-reinforced soft actuators for trajectory matching.

ABSTRACT: Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provide quantitative insights into the response of the actuators. These insights can be used to guide actuator design, thus accelerating the design process. Here, we study fluid-powered fiber-reinforced actuators, because these have previously been shown to be capable of producing a wide range of motions. We present a design strategy that takes a kinematic trajectory as its input and uses analytical modeli

SUBMITTER: Connolly F 

PROVIDER: S-EPMC5224361 | biostudies-literature | 2017 Jan

REPOSITORIES: biostudies-literature