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. Robotics2023, 12, 94.
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.
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. Robotics2023, 12, 94.
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.
Abstract
Conducting related research is crucial since there are still many problems that need to be resolved in the research on soft robots 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. It has a wide range of potential applications in healthcare, rehabilitation, bionics, and detection, and it 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, constructed, and its performance is 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 rotation of the target object in three dimensions.
Copyright:
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