Anthropomorphic flexible joint design and simulation

Zhuoyuan Chen; Shaoping Wang; Chao Zhang; Pengyu Zhang; Zirui Liao

doi:10.1109/ICIEA48937.2020.9248183

Anthropomorphic flexible joint design and simulation

Zhuoyuan Chen
, Shaoping Wang
, Chao Zhang
, Pengyu Zhang
, Zirui Liao

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

In this paper, a two-degree-of-freedom (DOF) anthropomorphic pneumatic flexible joint is designed by using a silicone based hyperelastic material. The flexible joint consists of three chambers, which are distributed at 120 degrees, and they are not connected with each other. The pneumatic flexible joint is controlled by inflating high pressure gas to its chambers. Bending properties and motion space of the pneumatic flexible joint is analysed. And the influence of the chambers' sizes and intervals on the joint's curvature and motion space is analyzed through a series of finite element models (FEMs). Finally, the design of the geometrical sizes of the pneumatic flexible joint is studied qualitatively. Finite element analysis (FEA), under gas pressure of 10 kPa, 15 kPa, 20 kPa and 25 kPa, respectively, showes that the designed structure could realize two-degree-offreedom motion of the pneumatic flexible joint, which makes up for the deficiency of traditional one-degree-of-freedom pneumatic flexible joints.

Original language	English
Title of host publication	Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1673-1678
Number of pages	6
ISBN (Electronic)	9781728151694
DOIs	https://doi.org/10.1109/ICIEA48937.2020.9248183
State	Published - 9 Nov 2020
Event	15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 - Virtual, Kristiansand, Norway Duration: 9 Nov 2020 → 13 Nov 2020

Publication series

Name	Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

Conference

Conference	15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Country/Territory	Norway
City	Virtual, Kristiansand
Period	9/11/20 → 13/11/20

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

anthropomorphic joint
flexible joint
pneumatic actuator
soft actuator

Access to Document

10.1109/ICIEA48937.2020.9248183

Cite this

Chen, Z., Wang, S., Zhang, C., Zhang, P., & Liao, Z. (2020). Anthropomorphic flexible joint design and simulation. In Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 (pp. 1673-1678). Article 9248183 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA48937.2020.9248183

Chen, Zhuoyuan ; Wang, Shaoping ; Zhang, Chao et al. / Anthropomorphic flexible joint design and simulation. Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 1673-1678 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020).

@inproceedings{583106227df841ea9c02db5d3e162a9b,

title = "Anthropomorphic flexible joint design and simulation",

abstract = "In this paper, a two-degree-of-freedom (DOF) anthropomorphic pneumatic flexible joint is designed by using a silicone based hyperelastic material. The flexible joint consists of three chambers, which are distributed at 120 degrees, and they are not connected with each other. The pneumatic flexible joint is controlled by inflating high pressure gas to its chambers. Bending properties and motion space of the pneumatic flexible joint is analysed. And the influence of the chambers' sizes and intervals on the joint's curvature and motion space is analyzed through a series of finite element models (FEMs). Finally, the design of the geometrical sizes of the pneumatic flexible joint is studied qualitatively. Finite element analysis (FEA), under gas pressure of 10 kPa, 15 kPa, 20 kPa and 25 kPa, respectively, showes that the designed structure could realize two-degree-offreedom motion of the pneumatic flexible joint, which makes up for the deficiency of traditional one-degree-of-freedom pneumatic flexible joints.",

keywords = "anthropomorphic joint, flexible joint, pneumatic actuator, soft actuator",

author = "Zhuoyuan Chen and Shaoping Wang and Chao Zhang and Pengyu Zhang and Zirui Liao",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 ; Conference date: 09-11-2020 Through 13-11-2020",

year = "2020",

month = nov,

day = "9",

doi = "10.1109/ICIEA48937.2020.9248183",

language = "英语",

series = "Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1673--1678",

booktitle = "Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020",

address = "美国",

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Chen, Z, Wang, S , Zhang, C, Zhang, P & Liao, Z 2020, Anthropomorphic flexible joint design and simulation. in Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020., 9248183, Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020, Institute of Electrical and Electronics Engineers Inc., pp. 1673-1678, 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020, Virtual, Kristiansand, Norway, 9/11/20. https://doi.org/10.1109/ICIEA48937.2020.9248183

Anthropomorphic flexible joint design and simulation. / Chen, Zhuoyuan; Wang, Shaoping ; Zhang, Chao et al.
Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1673-1678 9248183 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Anthropomorphic flexible joint design and simulation

AU - Chen, Zhuoyuan

AU - Wang, Shaoping

AU - Zhang, Chao

AU - Zhang, Pengyu

AU - Liao, Zirui

PY - 2020/11/9

Y1 - 2020/11/9

N2 - In this paper, a two-degree-of-freedom (DOF) anthropomorphic pneumatic flexible joint is designed by using a silicone based hyperelastic material. The flexible joint consists of three chambers, which are distributed at 120 degrees, and they are not connected with each other. The pneumatic flexible joint is controlled by inflating high pressure gas to its chambers. Bending properties and motion space of the pneumatic flexible joint is analysed. And the influence of the chambers' sizes and intervals on the joint's curvature and motion space is analyzed through a series of finite element models (FEMs). Finally, the design of the geometrical sizes of the pneumatic flexible joint is studied qualitatively. Finite element analysis (FEA), under gas pressure of 10 kPa, 15 kPa, 20 kPa and 25 kPa, respectively, showes that the designed structure could realize two-degree-offreedom motion of the pneumatic flexible joint, which makes up for the deficiency of traditional one-degree-of-freedom pneumatic flexible joints.

AB - In this paper, a two-degree-of-freedom (DOF) anthropomorphic pneumatic flexible joint is designed by using a silicone based hyperelastic material. The flexible joint consists of three chambers, which are distributed at 120 degrees, and they are not connected with each other. The pneumatic flexible joint is controlled by inflating high pressure gas to its chambers. Bending properties and motion space of the pneumatic flexible joint is analysed. And the influence of the chambers' sizes and intervals on the joint's curvature and motion space is analyzed through a series of finite element models (FEMs). Finally, the design of the geometrical sizes of the pneumatic flexible joint is studied qualitatively. Finite element analysis (FEA), under gas pressure of 10 kPa, 15 kPa, 20 kPa and 25 kPa, respectively, showes that the designed structure could realize two-degree-offreedom motion of the pneumatic flexible joint, which makes up for the deficiency of traditional one-degree-of-freedom pneumatic flexible joints.

KW - anthropomorphic joint

KW - flexible joint

KW - pneumatic actuator

KW - soft actuator

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DO - 10.1109/ICIEA48937.2020.9248183

M3 - 会议稿件

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T3 - Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

SP - 1673

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BT - Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

Y2 - 9 November 2020 through 13 November 2020

ER -

Chen Z, Wang S , Zhang C, Zhang P, Liao Z. Anthropomorphic flexible joint design and simulation. In Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 1673-1678. 9248183. (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020). doi: 10.1109/ICIEA48937.2020.9248183

Anthropomorphic flexible joint design and simulation

Abstract

Publication series

Conference

UN SDGs

Keywords

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