Abstract:
Soft bodied actuator mechanisms exist as an alternative to Rigid bodied actuator mechanisms for applications where smoother actuation rates, better power to weight ratios and conformability to shape are required. But since they exist on the opposite end of the spectrum they lack in repeatability, structural rigidity and actuation power. After performing a detailed literature review we established this design in which a hybrid approach was used to get the best of both worlds. By integrating rigid elements in the form of shells with a soft elastomeric tube, a hybrid actuator was formed having better power to weight ratio and smoother actuation rates when compared to rigid bodied actuator mechanisms and better structural rigidity, repeatability and actuation power when compared to rigid bodied mechanisms. A mathematical model was developed by solving the soft and rigid elements separately to get the end effector position, forces and torques. This model was conferred by doing FEM Simulation for a simpler version of the design. An experimental prototype was then developed for verification using materials chosen by the literature review performed earlier. Simple tests were done on the prototype to determine its working specifications. Finally, future work was discussed and some specific applications were demonstrated.
