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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0678-2

Abstract: their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, softlight weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumaticsoft robots an important position in the field of soft robots.In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeletonpneumatic artificial muscles, was developed.

Keywords： pneumatic artificial muscles     soft robot     modeling approach     principle of virtual work     external load    

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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 4, doi: 10.1007/s11465-023-0770-2

Abstract: Soft arms have shown great application potential because of their flexibility and compliance in unstructuredHowever, soft arms made from soft materials exhibit limited cargo-loading capacity, which restricts theirIn this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbagsThe joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbagsThe motion and load performance of the soft arm of the eight-joint module was tested.

Keywords： pneumatic soft arm     soft airbag     deployable origami exoskeleton     bistable characteristics     cargo-loading    

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Preparation and performance of soft actuator based on IPMC with silver electrodes

Qi CHEN, Ke XIONG, Kan BIAN, Ning JIN, Bangfeng WANG,

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 4,   Pages 436-440 doi: 10.1007/s11465-009-0054-5

Abstract: The surface electrodes of traditional ionic polymer-metal composites (IPMC) are made of platinum. To reduce the production cost, nonprecious metals such as silver is proposed. A new approach of electroless silver plating based on chemical deposition method is adopted, getting two types of IPMCs, Pt-Ag IPMC, and Ag-Ag IPMC. The microscopic analysis, driving abilities tests, and their surface-electrode resistance analysis show that Ag and Pt particles penetrate inside Nafion membrane with gradient distribution throughout the membrane. The maximum electro-active bending deformation angles of the specimens, which are obtained under the same specimen dimension and constrains, are about 60° for Pt-Pt IPMC and Pt-Ag IPMC and 90° for the Ag-Ag IPMC, respectively, corresponding to the driving voltage of 3 V, 4 V, and 1.5 V. The surface-electrode resistance of Ag-Ag IPMC is the lowest and the most stable, which shows that the proposed approach is valid. The experiments show that the IPMC technology based on the silver electrode is feasible.

Keywords： ionic polymer-metal composites (IPMC)     Nafion     intelligent material     soft actuators     electroless silver plating    

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Al-NaOH-Composited Liquid Metal: A Fast-Response Water-Triggered Material with Thermal and Pneumatic Article

Bo Yuan, Xuyang Sun, Jing Liu

Engineering 2020, Volume 6, Issue 12,   Pages 1454-1462 doi: 10.1016/j.eng.2019.08.020

Abstract: materials are receiving increasing attentions due to their diverse capabilities such as easy operation, softseveral seconds along with gas production, indicating its big potential to be used as a thermal and pneumaticactuator.findings indicate the potential value of the present material in developing future wearable devices, softactuators, and soft robotics.

Keywords： Liquid metal     Water-triggered materials     Self-heating materials     Soft actuator    

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Design of damping valve for vehicle hydro pneumatic suspension

DONG Mingming, HUANG Hua, GU Lian

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 1,   Pages 97-100 doi: 10.1007/s11465-008-0014-5

Abstract: According to the design features of a hydro pneumatic spring, the necessity of a separate damping valveThe design method and damping valve structure are useful guides for hydro pneumatic suspension, especially

Keywords： ability     pneumatic     necessity     flowrate     equivalent linearization    

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A pneumatic cylinder driving polyhedron mobile mechanism

Wan DING, Sung-Chan KIM, Yan-An YAO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 55-65 doi: 10.1007/s11465-012-0301-z

Abstract:

A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper.The mechanism is comprised of 5 tetrahedrons which includes a pneumatic cylinder in each edge.

Keywords： mobile mechanism     polyhedron     cylinder    

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Simulation of horizontal slug-flow pneumatic conveying with kinetic theory

GU Zhengmeng, GUO Liejin

Frontiers in Energy 2007, Volume 1, Issue 3,   Pages 336-340 doi: 10.1007/s11708-007-0050-6

Abstract: Wavelike slug-flow is a representative flow type in horizontal pneumatic conveying.can represent the physical characteristics of the non-suspension dense phase flow of wavelike slug pneumaticThe experiment in this paper introduced a new idea for the numerical calculation of slug-flow pneumatic

Keywords： velocity distribution     detailed     slug-flow     gas-solid     theory    

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New nonlinear stiffness actuator with predefined torque‒deflection profile

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 1, doi: 10.1007/s11465-022-0721-3

Abstract: A nonlinear stiffness actuator (NSA) could achieve high torque/force resolution in low stiffness range

Keywords： compliant actuator     nonlinear stiffness actuator     nonlinear spring     predefined torque−deflection profile    

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

Frontiers of Structural and Civil Engineering 2010, Volume 4, Issue 3,   Pages 277-286 doi: 10.1007/s11709-010-0072-8

Abstract: The compensation of actuator delay is therefore critical to achieve stable and reliable experimentaldelay and achieve good actuator control for real-time tests.However, these adaptive methods all require time duration for actuator delay adaptation.Experiments show that a good actuator delay estimate can help optimize the performance of the adaptiveThe rate of adaptation also requires that a good actuator delay estimate be acquired especially for the

Keywords： real-time testing     actuator delay     compensation     adaptive control     MIT rule     discrete transfer function    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0687-1

Abstract: A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design

Keywords： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 711-725 doi: 10.1007/s11465-021-0647-1

Abstract: Thus, this paper aims to design a novel variable stiffness actuator (VSA) that can provide safer physical

Keywords： variable stiffness actuator     variable stiffness module     drive module     symmetrical structure     double-deck    

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Design and characteristic research of a novel electromechanical-hydraulic hybrid actuator with two transmission

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0735-x

Abstract: This study proposes and designs a novel electromechanical-hydraulic hybrid actuator (EMHA) that integrates

Keywords： electromechanical-hydraulic hybrid actuator (EMHA)     integration     transmission mechanisms     power assistance    

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Development of soft kernel durum wheat

Craig F. MORRIS

Frontiers of Agricultural Science and Engineering 2019, Volume 6, Issue 3,   Pages 273-278 doi: 10.15302/J-FASE-2019259

Abstract: There are three kernel texture classes in wheat: soft and hard hexaploid ( ), and very hard durum ( subspTypical SKCS values for soft wheat would be around 25 and for durum wheat≥80.Soft kernel durum wheat was created via homeologous recombination using the mutation, which facilitateddurum grain resulted in kernel texture and flour milling characteristics nearly identical to that of softAgronomically, soft durum germplasm showed good potential with moderate grain yield and resistance to

Keywords： soft durum wheat     grain hardness     puroindolines     milling     baking     pasta     noodles    

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Performance of soft-hard-soft (SHS) cement based composite subjected to blast loading with consideration

Jun WU,Xuemei LIU

Frontiers of Structural and Civil Engineering 2015, Volume 9, Issue 3,   Pages 323-340 doi: 10.1007/s11709-015-0301-2

Abstract: This paper presents a combined experimental and numerical study on the damage and performance of a soft-hard-soft

Keywords： high strength concrete (SHS)     engineered cementitious composite     interface     blast test     strain rate effect    

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Title Author Date Type Operation

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Journal Article

Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Journal Article

Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Journal Article

Preparation and performance of soft actuator based on IPMC with silver electrodes

Qi CHEN, Ke XIONG, Kan BIAN, Ning JIN, Bangfeng WANG,

Journal Article

Al-NaOH-Composited Liquid Metal: A Fast-Response Water-Triggered Material with Thermal and Pneumatic

Bo Yuan, Xuyang Sun, Jing Liu

Journal Article

Design of damping valve for vehicle hydro pneumatic suspension

DONG Mingming, HUANG Hua, GU Lian

Journal Article

A pneumatic cylinder driving polyhedron mobile mechanism

Wan DING, Sung-Chan KIM, Yan-An YAO

Journal Article

Simulation of horizontal slug-flow pneumatic conveying with kinetic theory

GU Zhengmeng, GUO Liejin

Journal Article

New nonlinear stiffness actuator with predefined torque‒deflection profile

Journal Article

A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

Journal Article

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

Journal Article

Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

Journal Article

Design and characteristic research of a novel electromechanical-hydraulic hybrid actuator with two transmission

Journal Article

Development of soft kernel durum wheat

Craig F. MORRIS

Journal Article

Performance of soft-hard-soft (SHS) cement based composite subjected to blast loading with consideration

Jun WU,Xuemei LIU

Journal Article