TY - GEN
T1 - Simulations of fiber braided bending actuator
T2 - 10th Asian Control Conference, ASCC 2015
AU - Nordin, Ili Najaa Aimi Mohd
AU - Faudzi, Ahmad Athif Mohd
AU - Wakimoto, Shuichi
AU - Suzumori, Koichi
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/8
Y1 - 2015/9/8
N2 - Over recent years, studies on soft mechanism are rapidly being paid to attention especially in pneumatic actuator field. The actuator should provide sufficient force and flexibility in movement. The flexibility feature is vital in bending motion which needed in soft robotic actuation. There is no conventional fiber sleeve on single chamber actuator that can offer bending motion. In this paper, a new bending type actuator is introduced which the bending motion can be realized when braided fibers reinforcements on the cylindrical actuator rubber inner layer are formed from two different fiber angles. Two design parameters; position of fiber layer placement and air chamber diameter were varied and simulated to obtain the best specification of the proposed actuator design. The effects given by each design parameter were discussed and the dominant design parameter is also acknowledged from the FEM analysis. Significant bending motion was realized from the best model simulated. Actuator model with largest air chamber diameter and has the outermost position of fiber layer from the center point shows the highest bending capability.
AB - Over recent years, studies on soft mechanism are rapidly being paid to attention especially in pneumatic actuator field. The actuator should provide sufficient force and flexibility in movement. The flexibility feature is vital in bending motion which needed in soft robotic actuation. There is no conventional fiber sleeve on single chamber actuator that can offer bending motion. In this paper, a new bending type actuator is introduced which the bending motion can be realized when braided fibers reinforcements on the cylindrical actuator rubber inner layer are formed from two different fiber angles. Two design parameters; position of fiber layer placement and air chamber diameter were varied and simulated to obtain the best specification of the proposed actuator design. The effects given by each design parameter were discussed and the dominant design parameter is also acknowledged from the FEM analysis. Significant bending motion was realized from the best model simulated. Actuator model with largest air chamber diameter and has the outermost position of fiber layer from the center point shows the highest bending capability.
KW - air chamber diameter
KW - fiber braided soft actuator
KW - finite element analysis
UR - http://www.scopus.com/inward/record.url?scp=84957612813&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84957612813&partnerID=8YFLogxK
U2 - 10.1109/ASCC.2015.7244886
DO - 10.1109/ASCC.2015.7244886
M3 - Conference contribution
AN - SCOPUS:84957612813
T3 - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
BT - 2015 10th Asian Control Conference
A2 - Selamat, Hazlina
A2 - Ramli, Hafiz Rashidi Haruna
A2 - Faudzi, Ahmad Athif Mohd
A2 - Rahman, Ribhan Zafira Abdul
A2 - Ishak, Asnor Juraiza
A2 - Soh, Azura Che
A2 - Ahmad, Siti Anom
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 31 May 2015 through 3 June 2015
ER -