0

Full Content is available to subscribers

Subscribe/Learn More  >

Examining the Coiling Motion of Soft Actuators Reinforced With Tilted Helix Fibers

[+] Author Affiliations
Ryan Geer, Suyi Li

Clemson University, Clemson, SC

Paper No. SMASIS2018-8038, pp. V002T06A005; 7 pages
doi:10.1115/SMASIS2018-8038
From:
  • ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
  • Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting; Emerging Technologies
  • San Antonio, Texas, USA, September 10–12, 2018
  • Conference Sponsors: Aerospace Division
  • ISBN: 978-0-7918-5195-1
  • Copyright © 2018 by ASME

abstract

This study aims to examine the coiling and uncoiling motion of a soft pneumatic actuator reinforced with tilted helix fibers. Coiling motion can be quite useful for robotic manipulation and locomotion purposes. This research proposes and investigates a novel actuator that is inspired and derived from the unique cell wall architecture in the seed appendage of Stork’s Bill plant (Erodium Gruinum). These plant cells are reinforced by cellulose fibers distributed in a tilted helix pattern — helixes that are tilted at a certain angle with respect to the longitudinal axis of the cell. As a result, the seed appendage can coil and uncoil via a combination of twisting and bending. This paper discusses the design, fabrication, and testing of a soft actuator that can mimic this sophisticated motion. This actuator consists of Kevlar fiber thread wrapped around a silicon rubber body that has the shape of a tube. The tube will be capped at both ends so that it can be pressurized internally to induce motion. Once the design parameter has been chosen, the soft actuator are fabricated by 1) designing and 3D printing molds, 2) tube casting and fiber wrapping, and 3) creating the end caps for pressure sealing. Carefully executing these fabrication steps is essential because any errors could give undesired deformation. Several soft actuators prototypes are fabricated based on different design choices regarding the actuator radius, tube wall thickness, and the number of tilted helix fibers (aka. fiber coverage). Proof-of-concept tests show that these actuator prototypes can indeed exhibit a combined twisting and bending under internal pressurization: all are the necessary receipts to achieve the coiling and uncoiling motion. Result of this paper can pave the way for a new family of soft actuators capable of unprecedented and sophisticated actuation motions, which are particularly appealing for soft robot application.

Copyright © 2018 by ASME
Topics: Fibers , Actuators

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In