Pneumatic Actuation of a 2-Link Robotic System

In the world of robotics, the interaction between an end-effector and a load is to be made as precise and stable as possible. Various fields of robotics, especially nanorobotics, are still in the testing phase but they demand precision. The investigation of a 2-link pneumatic robotic system, using robotic and electric actuators, will be made. For the sake of representation, the prototype will be made of available materials in the market to fulfil its requirements. An insight into robots explaining the various functions in the human world will be outlined. The aim of the Paper will be to illustrate an appropriate control strategy for a pneumatically-actuated robot. The choice and design of the actuator for the prototype will be explained. The type of piston, directional control valve (DCV) and push-buttons to meet the specifications of the robot will be elucidated. The completion of the prototype will give conclusive results about the operation of the robotic system.Keywords: Robot, Pneumatic, Linear, Rotary, Actuato

Actuators and sensors for application in agricultural robots: A review

In recent years, with the rapid development of science and technology, agricultural robots have gradually begun to replace humans, to complete various agricultural operations, changing traditional agricultural production methods. Not only is the labor input reduced, but also the production efficiency can be improved, which invariably contributes to the development of smart agriculture. This paper reviews the core technologies used for agricultural robots in non-structural environments. In addition, we review the technological progress of drive systems, control strategies, end-effectors, robotic arms, environmental perception, and other related systems. This research shows that in a non-structured agricultural environment, using cameras and light detection and ranging (LiDAR), as well as ultrasonic and satellite navigation equipment, and by integrating sensing, transmission, control, and operation, different types of actuators can be innovatively designed and developed to drive the advance of agricultural robots, to meet the delicate and complex requirements of agricultural products as operational objects, such that better productivity and standardization of agriculture can be achieved. In summary, agricultural production is developing toward a data-driven, standardized, and unmanned approach, with smart agriculture supported by actuator-driven-based agricultural robots. This paper concludes with a summary of the main existing technologies and challenges in the development of actuators for applications in agricultural robots, and the outlook regarding the primary development directions of agricultural robots in the near future

Design and Fabrication of Soft 3D Printed Actuators: Expanding Soft Robotics Applications

Soft pneumatic actuators are ideal for soft robotic applications due to their innate compliance and high power-weight ratios. Presently, the majority of soft pneumatic actuators are used to create bending motions, with very few able to produce significant linear movements. Fewer can actively produce strains in multiple directions. The further development of these actuators is limited by their fabrication methods, specifically the lack of suitable stretchable materials for 3D printing. In this thesis, a new highly elastic resin for digital light projection 3D printers, designated ElastAMBER, is developed and evaluated, which shows improvements over previously synthesised elastic resins. It is prepared from a di-functional polyether urethane acrylate oligomer and a blend of two different diluent monomers. ElastAMBER exhibits a viscosity of 1000 mPa.s at 40 °C, allowing easy printing at near room temperatures. The 3D-printed components present an elastomeric behaviour with a maximum extension ratio of 4.02 ± 0.06, an ultimate tensile strength of (1.23 ± 0.09) MPa, low hysteresis, and negligible viscoelastic relaxation

Application of artificial pneumatic rubber muscles to a human friendly robot

When robots work together with a human or contact with a human body directly in such as a medical welfare field, in order to avoid an accident from crash and so on, a flexibility is required for the robot. The purpose of this study is to realize a safe mechanism for a human-friendly robot. In this paper, the structure and the fundamental characteristics of a pneumatic rubber muscle and soft mechanism are described, and then the structure and the fundamental operation of the developed soft hand are shown. Finally, the shaking hands is discussed as an example of force communication tasks between a robot and a human. </p

Simulation and development of paper-based actuators

Soft robots have become an attractive research topic for opening new doors for robots' limitations by being flexible, light, and small and with the ability to have an adaptable shape. An essential component in a soft robot is the soft actuator, which provides the system with a deformable body and allows it to interact with the environment to achieve the desired actuation pattern. Among the various materials used in soft actuators, paper-based actuators have special attention because paper is an abundant, lightweight, and biodegradable material. This work illustrates an insight into the soft actuators field and focuses on developing unique paper-based actuators applying the microwave heat for a liquid-vapor phase transition, in this case, water. This document focuses on the study of different designs, materials, and thick-nesses by changing the paper, elastomer, and double-sided tape.Os robôs flexíveis tornaram-se um tópico de pesquisa atraente por abrirem novas portas para as limitações dos robôs por serem flexíveis, leves e pequenos e com a capacidade de ter uma forma adaptável. Um componente essencial em um robô flexível é o atuador flexível, que fornece ao sistema um corpo deformável e permite que este interaja com o ambiente para atingir o movi-mento desejado. Dos vários materiais usados em atuadores flexíveis, os atuadores baseados em papel têm especial atenção porque o papel é um material abundante, leve e biodegradável. Este trabalho ilustra uma visão da área de atuadores flexíveis e foca no desenvolvimento de atuadores únicos baseados em papel , aplicando o calor de microondas para uma transição de fase líquido-vapor, neste caso, água. Este documento mostra o estudo de diferentes designs, ma-teriais e espessuras, alterando o papel, elastómero e fita dupla-face