Investigation of mechanical and electrical characteristics of selfsensing pneumatic torsional actuators
作者机构:Key Laboratory of Conveyance and EquipmentMinistry of EducationEast China Jiaotong UniversityNanchang 330013China Key Laboratory of Advanced Design and Simulation Techniques for Special EquipmentMinistry of EducationHunan UniversityChangsha 410082China
出 版 物:《Science China(Technological Sciences)》 (中国科学(技术科学英文版))
年 卷 期:2024年第67卷第1期
页 面:130-142页
核心收录:
学科分类:080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程(可授工学、理学学位)] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0702[理学-物理学]
基 金:This work was supported by the Natural Science Foundation of Jiangxi Province of China(Grant No.20232BAB214050) the National Natural Science Foundation of China(Grant No.52165004)
主 题:pneumatic torsional actuators self-sensing feedback voltage finite element modeling soft robots
摘 要:Soft pneumatic actuators are one of the most promising actuation for soft robots,and great achievements have been *** it remains challenging to endow sensing capabilities to pneumatic actuators,especially for the sensing ability originating directly from the actuator ***,a self-sensing pneumatic torsional actuator(SPTA)is designed based on the electromagnetic induction effect and magnetically responsive *** SPTA can generate feedback voltage and current with the deformation,in which the sensing function comes from its inherent *** investigate the mechanical and electrical characteristics,an experimental platform and a finite element model are established,*** find that the torsion angle and output torque increase in nonlinear with the actuating *** maximum torsion angle is 66.35°,which is 84.34%of that for the actuator fabricated by pure *** maximum output torque(24.9 N mm)improves by 23.19%compared with the actuator made by pure *** regards the electrical characteristics,the maximum feedback voltage and current are 2.90μV and 29.50 nA when the SPTA is actuated by a pressure of−40 *** also demonstrate that the relationship between the torsion angle and the magnetic flux change is approximately ***,the number of turns of wires,magnetic powders contents,and magnetic direction on the feedback voltage and current are *** show that the feedback voltage and current can be enhanced by increasing the number of turns and magnetic powders *** envision that the SPTA would be promising for soft robots to realize their accuracy control and intelligentization.