Snake-like soft robot using 2-chambers actuator

Abdulrab, Hakim Q.A. and Mohd Nordin, Ili Najaa Aimi and Muhammad Razif, Muhammad Rusydi and Faudzi, Ahmad Athif (2018) Snake-like soft robot using 2-chambers actuator. ELEKTRIKA Journal of Electrical Engineering, 17 (1). pp. 34-40. ISSN 0128-4428

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Abstract

Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuator connected by rubber joints. The actuators are fabricated using silicon Silastic P-1 where each actuator link consists of two semi-circular chambers and are reinforced with fibers. Fabrication process from CAD design, mold fabrication and validation with simulation and experiment is presented. The fabricated actuators can bend at 27.5o with maximum pressure of 180 kPa.

Item Type:	Article
Uncontrolled Keywords:	flexible actuator; two chambers; three links; finite element analysis; soft actuator.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Divisions:	Faculty of Engineering Technology > Department of Electrical Engineering Technology
Depositing User:	Miss Afiqah Faiqah Mohd Hafiz
Date Deposited:	18 Nov 2021 07:18
Last Modified:	18 Nov 2021 07:18
URI:	http://eprints.uthm.edu.my/id/eprint/3560

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