Bingzhu Wang1,*, Xiangrui Ye2,*
CMES-Computer Modeling in Engineering & Sciences, Vol.139, No.2, pp. 1401-1425, 2024, DOI:10.32604/cmes.2024.047364
Abstract A novel three-dimensional-fiber reinforced soft pneumatic actuator (3D-FRSPA) inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed. It has an omni-directional bending configuration, and the fibers twined symmetrically on both sides to improve the bending performance of FRSPA. In this paper, the static and kinematic analysis of 3D-FRSPA are carried out in detail. The effects of fiber, pneumatic chamber and segment length, and circular air chamber radius of 3D-FRSPA on the mechanical performance of the actuator are discussed, respectively. The soft mobile robot composed of 3D-FRSPA has the ability to… More >
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