The human-robot collaboration expects safe cobots in structure and end-effectors to be applied. Pneumatic soft actuators, made of reinforced elastomeric materials, satisfy safety requirements. In the present work, a soft pneumatic actuator, with a deformed helical shape, for collaborative robots is presented. Made of a silicone rubber tube wrapped by a proper cut gauze, the actuator allows the grasping of long and slender objects. The working principle of the actuator, the behavior, and the manufacturing procedure of a prototype, realized for a practical case, are presented. Experimental tests validated the functionality of the proposed device.

Soft Pneumatic Helical Actuator for Collaborative Robotics

Antonelli Michele Gabrio Ernesto
;
D'Ambrogio W.
2022

Abstract

The human-robot collaboration expects safe cobots in structure and end-effectors to be applied. Pneumatic soft actuators, made of reinforced elastomeric materials, satisfy safety requirements. In the present work, a soft pneumatic actuator, with a deformed helical shape, for collaborative robots is presented. Made of a silicone rubber tube wrapped by a proper cut gauze, the actuator allows the grasping of long and slender objects. The working principle of the actuator, the behavior, and the manufacturing procedure of a prototype, realized for a practical case, are presented. Experimental tests validated the functionality of the proposed device.
978-3-031-10775-7
978-3-031-10776-4
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11697/193719
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? ND
social impact