Model and validation of a highly extensible and tough actuator based on a ballooning membrane

Herzig, Nicolas, Jones, Joanna, Perez-Guagnelli, Eduardo and Damian, Dana D (2021) Model and validation of a highly extensible and tough actuator based on a ballooning membrane. IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, May 30th - June 5th 2021. Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE ISSN 1050-4729 ISBN 9781728190785

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Soft robots are known for their ability to comply and having superior extensibility. However, one of the limitations of most of these robots is that they can stand only a limited amount of load before buckling, and they feature a non-negligible initial height. Hybrid soft-rigid actuators seem to offer a trade-off between compliance and the amount of load they can withstand, but only a few simple models have been proposed to describe the behavior of these actuators. In this paper, we propose a design, model and experimental validation of a soft actuator based on stackable Hyperelastic Ballooning Membranes (HBMA). This actuator shows an extensibility higher than 179%, as well as an ability to stand more than 20 times its own weight at a pressure as low as 35 kPa. Two models, giving the dynamic behavior of the HBMA in terms of displacement and pressure, have been derived from different hyperelastic models (Neo-Hookean and Mooney-Rivlin) and compared in terms of accuracy and robustness. Finally, an example of a hybrid soft-rigid continuum ballooning robot built with HBMAs is presented and characterized experimentally.

Item Type: Conference Proceedings
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Date Deposited: 04 Mar 2021 09:31
Last Modified: 04 Mar 2022 17:08

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