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Structural Engineering and Mechanics Volume 91, Number 2, July25 2024 , pages 211-225 DOI: https://doi.org/10.12989/sem.2024.91.2.211 |
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Design, simulation and experimental analysis of fiber-reinforced silicone actuators |
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Sina Esmalipour, Masoud Ajri and Mehrdad Ekhtiari
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| Abstract | ||
| Soft bending actuators have gained significant interest in robotic applications due to their compliance and lightweight nature. Their compliance allows for safer and more natural interactions with humans or other objects, reducing the risk of injury or damage. However, the nonlinear behaviour of soft actuators presents challenges in accurately predicting their bending motion and force exertion. In this research, a new comprehensive study has been conducted by employing a developed 3D finite element model (FEM) to investigate the effect of geometrical and material parameters on the bending behaviour of a soft pneumatic actuator reinforced with Kevlar fibres. A series of experiments are designed to validate the FE model, and the FE model investigates the improvement of actuator performance. The material used for fabricating the actuator is RTV-2 silicone rubber. In this study, the Cauchy stress was expanded for hyperelastic models and the best model to express the stress-strain behaviour based on ASTM D412 Type C tensile test for this material has been obtained. The results show that the greatest bending angle was achieved for the semi-elliptical actuator made of RTV2 material with a pitch of 1.5 mm and second layer thickness of 1 mm. In comparison, the maximum response force was obtained for the semi-elliptical actuator made of RTV2 material with a pitch of 6 mm and a second layer thickness of 2 mm. Additionally, this research opens up new possibilities for development of safer and more efficient robotic systems that can interact seamlessly with humans and their environment. | ||
| Key Words | ||
| bending behaviour; casting method; finite element model; hyperelastic model; pneumatic actuation; soft actuator | ||
| Address | ||
| Sina Esmalipour, Masoud Ajri and Mehrdad Ekhtiari: Department of Mechanical Engineering, University of Mohaghegh Ardabili, Ardabil 56199-13131, Iran | ||