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Robotics
Volume 12
Issue 4
10.3390/robotics12040094
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Article

Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials

by
Zhengyun Xu
1,
Haiqiang Liu
1,
Weihua Feng
2,
Huaming Yang
2,
Xin Nie
1 and
Rougang Zhou
1,3,4,*
1
School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China
2
Hangzhou Yuhang Water Affairs Holding Group Co., Ltd., Hangzhou 310012, China
3
Wenzhou Institute, Hangzhou Dianzi University, Building 11, No. 26, Fengnan Road, Ouhai District, Wenzhou 325024, China
4
Mstar Technologies, Inc., Hangzhou 310012, China
*
Author to whom correspondence should be addressed.
Robotics 2023, 12(4), 94; https://doi.org/10.3390/robotics12040094
Submission received: 5 May 2023 / Revised: 24 June 2023 / Accepted: 27 June 2023 / Published: 28 June 2023
(This article belongs to the Special Issue The State-of-the-Art of Robotics in Asia)
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Abstract

Conducting research on soft robots is crucial as there are still many problems that need to be resolved in the areas of material selection, structure design and manufacture, and drive control. Soft manipulators, a subset of soft robots, are now a popular area of study for many researchers. In comparison to typical manipulators, soft manipulators feature a high degree of gripping flexibility and a basic morphological structure. They are composed of flexible materials. They have a wide range of potential applications in healthcare, rehabilitation, bionics, and detection, and they can compensate for the drawbacks of rigid manipulators in some use scenarios. A modular soft-body torsional gripping system is developed after a torsional and gripping actuator is conceived and constructed, and its performance examined. The torsion actuator and the grasping actuator can be combined in the system in a modular fashion. With the help of RGB-D vision algorithms, this multi-modular setup makes it possible to combine soft actuators with various twisting degrees and achieve exact gripping. Through pneumatic control, the target object is precisely grasped and rotated at various angles, enabling the rotation of the target object in three dimensions.
Keywords: soft actuator; modular design; machine vision; flexible clamping technology soft actuator; modular design; machine vision; flexible clamping technology

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MDPI and ACS Style

Xu, Z.; Liu, H.; Feng, W.; Yang, H.; Nie, X.; Zhou, R. Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials. Robotics 2023, 12, 94. https://doi.org/10.3390/robotics12040094

AMA Style

Xu Z, Liu H, Feng W, Yang H, Nie X, Zhou R. Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials. Robotics. 2023; 12(4):94. https://doi.org/10.3390/robotics12040094

Chicago/Turabian Style

Xu, Zhengyun, Haiqiang Liu, Weihua Feng, Huaming Yang, Xin Nie, and Rougang Zhou. 2023. "Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials" Robotics 12, no. 4: 94. https://doi.org/10.3390/robotics12040094

APA Style

Xu, Z., Liu, H., Feng, W., Yang, H., Nie, X., & Zhou, R. (2023). Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials. Robotics, 12(4), 94. https://doi.org/10.3390/robotics12040094

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