Quasi-static analysis and control of planer and spatial bending fluidic actuator
Chang, Benjamin Che-Ming
arxiv: Computer Science::Robotics | Computer Science::Systems and Control | Computer Science::Other
This work presents a novel silicone-based millimetre scale bending fluidic actuator. Two designs of the bending fluidic actuator are studied: a planer actuator that bends about one axis; and a spatial actuator able to bend about two orthogonal axes. The unique parallel micro-channel design of the fluidic actuators enables operation at low working pressures, while at the same time having a very limited thickness expansion during pressurization. The fluidic actuators can be easily scaled to desired dimensions to adapt to applications in restricted space. The implemented moulding fabrication procedures are discussed and the quasi-static performances of the developed prototypes are experimentally investigated. An analytical model for the planer actuator is derived and a regression model for the spatial actuator is proposed. A position controller is implemented and applications of the actuator are discussed.