Design and implementation of variable inclined air pillow soft pneumatic actuator suitable for bioimpedance applications

• Published in: Sensors and actuators. A. Physical. Vol. 314; p. 112272
• Main Authors: Saleh, Mahmood Abdallah, Soliman, MennaAllah, Mousa, Mostafa A., Elsamanty, Mahmoud, Radwan, Ahmed Gomaa
• Format: Journal Article
• Language: English
• Published: Lausanne Elsevier B.V 15.10.2020; Elsevier BV
• Subjects: 3D printing; Actuators; Automation; Bioimpedance; Deformation; Electrochemical impedance spectroscopy; Finite element analysis; Finite element method; Food quality; Formability; Fused deposition modeling; Grippers; Human-computer interaction; Image processing; Inclination angle; Manufacturing engineering; Model testing; Modernization; Nonlinear analysis; Pneumatics; Quality assurance; Robotics; Robots; Soft pneumatic actuators; Soft robotics; Three dimensional models; Three dimensional printing; Bioimpedance; Soft robotics; Soft pneumatic actuators; Finite element analysis; Food quality; Grippers; 3D printing
• ISSN: 0924-4247; 1873-3069
• DOI: 10.1016/j.sna.2020.112272

[Display omitted] •New geometrical parameter of air pillow inclination angle has been introduced by studying this effect on soft pneumatic actuator SPA work envelop and tip reaction force.•This effect has studied against a wide range of positive and vacuum pressure.•This study has been elaborated using nonlinear Finite Element Analysis FEA.•FEA has implemented based on hyperelastic material modeming identified by testing a specimen from SPA fabricated material.•Used fused deposition modelling FDM 3d printer to fabricate 3 SPAs within the studied range of air pillow inclination angle to be experimentally validated with FEA data.•Using image processing technique to validate work envelope data. In addition to, using lead force scaled to validate tip reaction force data.•Develop two different grippers consisted of same SPA air pillow inclination angle to pick different geometries and weight.•SPA gripper has been integrated with bioimpedance measurements for agricultural applications. Electrochemical impedance spectroscopy (EIS) test has been performed without fruit's tissues harming because of the soft gripping. This test and application could be used in food quality application. The technological revolution has caused the modernization of human–machine relationship changing our approach in problem solving our society issues and deviated the science of robotic all together. An example for one of the most important pawn in this revolution is soft robotics, the soft robots are robots that are made of deformable materials that provide an alternative approach to rigid robots. The soft pneumatic actuator (SPA) is one of the most widely used and studied form of this type of robotics. In this study, a new geometrical parameter of the SPAs is introduced by studying the effect of the change of the air pillow Inclination angle on the SPA work envelope and tip reaction force against wide range of positive and vacuum pressure applied on SPAs inner surfaces. We are elaborating this effect by using nonlinear static Finite Element Analysis. (FEA) basing it on the hyper-elastic material model identified by testing a specimen from the SPA fabricated material. Three SPAs are fabricated using Fused Deposition Modeling (FDM) 3D printer for the experimental validation of two aspects the work envelope and the tipping force. The test was performed by the image processing of the work envelope comparing the FEA and the experimental work envelope results and the tipping force was validated by using the load force scales. Based on the FEA and the experimental results, two different grippers with two work envelopes and tips was created to observe the change in the effect of the gripper on the weight and surfaces of the grasped object. By the integration of the SPA gripper with bio-impedance measurements, the SPA gripper was enabled to be translated to an agricultural application for fruit picking. A device that is monitored by having soft gripper to have no detrimental effect on the collected fruit's tissues, hybrid with Electrochemical Impedance Spectroscopy (EIS) test for quality assurance. Finally, this work can be interrogated in the future to a gripper that have modifiable synchronized work envelope and tip force for each object.