Author/Authors :
Nordin, Ili Najaa Aimi Mohd Universiti Teknologi Malaysia - Faculty of Electrical Engineering - Control and Mechatronics Engineering Department, Malaysia , Faudzi, A. A. M. Universiti Teknologi Malaysia - Faculty of Electrical Engineering, Center for Artificial Intelligence and Robotics (CAIRO) - Control and Mechatronics Engineering Department, Malaysia , Razif, M. R. M. Universiti Teknologi Malaysia - Faculty of Electrical Engineering - Control and Mechatronics Engineering Department, Malaysia , Natarajan, E. Kolej Universiti Linton - School of Mechanical Engineering, Malaysia , Wakimoto, S. Okayama University - Graduate School of Natural Science and Technology, Japan , Suzumori, K. Okayama University - Graduate School of Natural Science and Technology, Japan
Abstract :
Over recent years, studies on soft mechanism are rapidly being paid to attention especially in pneumatic actuator field. A good actuator should be able to provide sufficient force and flexibility in movement, hence bending motion is a vital criteria needed in soft robotic actuation. In this paper, a solution to soft bending pneumatic actuator is proposed in which several patterns fiber weave designs are introduced. The objectives of the simulations is to investigate the different weave patterns combination of fiber reinforced actuator models that yields the best bending characteristics and its relation to the contraction or extension characteristics shown by single weave pattern actuator models. From the results, when two patterns of fiber weave were attached together to form a sleeve, significant bending were obtained from most of the models simulated. Large bending resulted from combined two patterns fiber weave models were achieved when maximum contraction and extension characteristics exhibited by both fiber weave patterns.
