پیوندهای مفید
آمار
| تعداد نشریات | 8 |
| تعداد شماره‌ها | 421 |
| تعداد مقالات | 5,527 |
| تعداد مشاهده مقاله | 6,373,132 |
| تعداد دریافت فایل اصل مقاله | 5,482,402 |
Optimum design and comparison of four soft reinforced actuators by Taguchi experimental design method | ||
| AUT Journal of Mechanical Engineering | ||
| مقاله 3، دوره 5، شماره 3، آذر 2021، صفحه 387-400 اصل مقاله (1.65 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/ajme.2020.18667.5915 | ||
| نویسندگان | ||
| Amir Janghorban؛ Reza Dehghani* ؛ Masoud Rezaeizadeh | ||
| Faculty of Mechanical and Materials Engineering, Graduate University of Advanced Technology, Kerman, Iran | ||
| چکیده | ||
| In this paper, four soft reinforced actuators are studied and their performance is compared. The soft actuators, because of their ability to match their shape with unknown environment, could be utilized in medical instruments such as rehabilitation devices, grippers, manipulators and bio-mimic hand. Here, the considered actuators are included a single elastomer channel wrapped with fiber reinforcements and an inextensible layer. Four actuators with half-circular and rectangular geometry are discussed. Two actuators have constant cross section and others have variable cross section. To study their performance they are modeled in Abaqus software. Also, a prototype of the soft actuator is manufactured and the numerical results are validated by the experiment results. Moreover, for studying the effect of each parameter and their interactions and finding the optimum design of the actuators the Taguchi method is used with a set of experiments. To this end, L27 array experiments are designed and each experiment is performed by finite element analysis in Abaqus. Then, the performance of each actuator is discussed and compared with each other and the optimum values of the parameters are determined. Results show the rectangular actuator has a more range of motion in comparison to half-circular one. | ||
| کلیدواژه‌ها | ||
| Soft reinforced actuator؛ Fabrication؛ Experimental design؛ Taguchi method؛ Optimum design | ||
| مراجع | ||
|
[1] F. Ilievski, A.D. Mazzeo, R.F. Shepherd, X. Chen, G.M. Whitesides, Soft robotics for chemists, Angewandte Chemie, 123(8) (2011) 1930-1935. [2] P. Moseley, J.M. Florez, H.A. Sonar, G. Agarwal, W. Curtin, J. Paik, Modeling, design, and development of soft pneumatic actuators with finite element method, Advanced engineering materials, 18(6) (2016) 978-988. [3] B. Mosadegh, P. Polygerinos, C. Keplinger, S. Wennstedt, R.F. Shepherd, U. Gupta, J. Shim, K. Bertoldi, C.J. Walsh, G.M. Whitesides, Pneumatic networks for soft robotics that actuate rapidly, Advanced functional materials, 24(15) (2014) 2163-2170. [4] P. Polygerinos, Z. Wang, J.T. Overvelde, K.C. Galloway, R.J. Wood, K. Bertoldi, C.J. Walsh, Modeling of soft fiber-reinforced bending actuators, IEEE Transactions on Robotics, 31(3) (2015) 778-789. [5] R. Deimel, O. Brock, A novel type of compliant and underactuated robotic hand for dexterous grasping, The International Journal of Robotics Research, 35(1-3) (2016) 161-185. [6] B. Tondu, Modelling of the McKibben artificial muscle: A review, Journal of Intelligent Material Systems and Structures, 23(3) (2012) 225-253. [7] R.D. A. Janghorban, M. Rezaeizadeh, Design and Modeling of a New Multi-sectional Soft Robot, in: 27th Annu. Conf. Mech. Eng., Civilica, 2019. [8] R. Deimel, O. Brock, A compliant hand based on a novel pneumatic actuator, in: 2013 IEEE International Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013, pp. 2047-2053. [9] P. Polygerinos, S. Lyne, Z. Wang, L.F. Nicolini, B. Mosadegh, G.M. Whitesides, C.J. Walsh, Towards a soft pneumatic glove for hand rehabilitation, in: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Tokyo, Japan, 2013, pp. 1512-1517. [10] P. Polygerinos, K.C. Galloway, S. Sanan, M. Herman, C.J. Walsh, EMG controlled soft robotic glove for assistance during activities of daily living, in: 2015 IEEE international conference on rehabilitation robotics (ICORR), IEEE, Singapore, 2015, pp. 55-60. [11] P. Polygerinos, K.C. Galloway, E. Savage, M. Herman, K. O'Donnell, C.J. Walsh, Soft robotic glove for hand rehabilitation and task specific training, in: 2015 IEEE international conference on robotics and automation (ICRA), IEEE, Seattle, Washington, USA, 2015, pp. 2913-2919. [12] F.-Z. Low, H.H. Tan, J.H. Lim, C.-H. Yeow, Development of a soft pneumatic sock for robot-assisted ankle exercise, Journal of Medical Devices, 10(1) (2016) 014503. [13] J. Amend, N. Cheng, S. Fakhouri, B. Culley, Soft robotics commercialization: Jamming grippers from research to product, Soft robotics, 3(4) (2016) 213-222. [14] V. Czitrom, One-factor-at-a-time versus designed experiments, The American Statistician, 53(2) (1999) 126-131. [15] O.H. Yeoh, Some forms of the strain energy function for rubber, Rubber Chemistry and technology, 66(5) (1993) 754-771. [16] D.C. Montgomery, Design and analysis of experiments, John wiley & sons, 2017. [17] Minitab 18 support, in, 2018. [18] R.K. Roy, A primer on the Taguchi method, Society of Manufacturing Engineers, 2010. | ||
|
آمار تعداد مشاهده مقاله: 377 تعداد دریافت فایل اصل مقاله: 521 |
||