Soft Planar Actuator using Pneumatic-Rubber Balls | Zendy

Toshiro Noritsugu | Zendy; Daijyu Kaneshiro | Zendy; Takashi Inoue | Zendy

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Soft Planar Actuator using Pneumatic-Rubber Balls

Author(s) -

Toshiro Noritsugu,

Daijyu Kaneshiro,

Takashi Inoue

Publication year - 2000

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2000.p0254

Subject(s) - actuator , pneumatic actuator , silicone rubber , planar , rotary actuator , natural rubber , flexibility (engineering) , mechanism (biology) , mechanical engineering , tube (container) , deformation (meteorology) , materials science , computer science , control theory (sociology) , engineering , artificial intelligence , composite material , control (management) , physics , mathematics , computer graphics (images) , statistics , quantum mechanics

The manipulation of fragile and shapeless objects requires an actuator with enough flexibility and safety not to injure manipulated objects. To cope with such requirements, soft actuators have been developed, most of which utilize elastic deformation of a rubber tube or balloon caused by compressed air pressure. Such a pneumatic rubber actuator is expected to be effectively used as a flexible and friendly soft actuator in various fields. In this study, to realize a flexible pneumatic carrier system, a soft planar actuator using rubber balls has been developed assuming that the actuator directly contacts carried objects. This paper describes a fundamental principle of operation, a control method and experimental results. Additionally, a small sized soft planar actuator made of silicone rubber is described. The results show the effectiveness of the proposed actuator mechanism.

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