@inproceedings{448ad9ae64d34992837fddd06cce63ac,
title = "A Compliant PneuNets Linear Actuator with Large Off-Axis Stiffness",
abstract = "Soft pneumatic linear actuators are crucial elements in soft robots. Although those highly flexible and extensible actuators accelerate the development of soft robots, their inherent softness leads to significant disadvantages such as low load-carrying capacity and large motion error limit. In this paper, we propose a new class of soft pneumatic linear actuators with a compliant parallelogram mechanism as a backbone combined with Pneumatic network (PneuNets) bending actuators. The new actuator has flexibility in the motion direction while maintaining a higher stiffness in other directions. We derive the actuator{\textquoteright}s pressure-displacement model by the Pseudo-rigid-body model and validate it by experiments and simulations. The stiffness measurement results show that the off-axis stiffness in the Y and Z directions are 188.327 and 5.469 times the in-axis stiffness, respectively. The proposed soft linear actuator design offers an alternative solution for enhancing the performance of soft robots.",
keywords = "Compliant mechanisms, Linear actuator, Pneumatic actuators, Soft robots",
author = "Yi Jin and Haijun Su",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.; Joint Mechanical Systems and Robotics and RoManSy Symposium, MSR-RoManSy 2024 ; Conference date: 22-05-2024 Through 25-05-2024",
year = "2024",
doi = "10.1007/978-3-031-60618-2_5",
language = "英语",
isbn = "9783031606175",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "53--65",
editor = "Pierre Larochelle and McCarthy, {J. Michael} and Lusk, {Craig P.}",
booktitle = "Proceedings of MSR-RoManSy 2024 - Combined IFToMM Symposium of RoManSy and USCToMM Symposium on Mechanical Systems and Robotics",
}