BEND ANGLE AND CONTACT FORCE ON SOFT PNEUMATIC GRIPPER FOR GRASPING CYLINDRICAL-SHAPED DIFFERENT-SIZED OBJECTS

Venkatesan Vellaiyan,∗ Shanmugam Subramaniam,∗ and Veerappan Arunachalam∗

Keywords

Soft pneumatic actuator, FEA non-linear analysis, flex sensor, force sensors, contact force, bend angle

Abstract

This article presents the numerical and experimental analysis of bend angle and contact force variation of soft pneumatic actuator with different-sized cylindrical grasping objects. The modelling of the actuator is created using a commercial software, and the numerical analysis is done using ABAQUS non-linear package. The test set-up is constructed using a soft pneumatic actuator, flex sensor, force-sensitive resister, Arduino UNO and Parallax Data Acquisition system. The analysis reveals that the maximum bend angle and the maximum contact force are obtained in 20 and 30 mm grasping object, respectively. The greater the area moment of inertia, the lesser the bend angle and the higher the contact force. ANOVA results show that the pressure is more significant compared with grasping object size. The experimental and finite element method results are in good agreement.

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