RESUMEN
Pressurization of gas within embedded channels and cavities is a popular method for actuating soft robots. Various previous works examined the effects of internal fluid mechanics on this actuation approach, as well as on leveraging viscous effects to extend the capabilities of soft robots. However, no existing works studied the combined effects of fluid viscosity and compressibility, relevant to miniaturized configurations, which is the aim of the current work. We derive a general model for compressible viscous flow in an elastic media representing a simplified miniaturized soft robot. We illustrate applying this model to periodic configurations, simplifying it via a long-wave approximation. Steady, and time-dependent solutions are obtained, allowing to model the flow and to provide insight into the actuation dynamics of miniaturized pneumatic soft robots.
Asunto(s)
Robótica , Diseño de Equipo , Robótica/métodosRESUMEN
A finite element model is developed to study the behaviour of adhesion-governed contact of soft elastic wall-shaped projections and a rigid flat under normal and tangential loading. Bi-linear cohesive zone material is implemented to model the adhesive interaction of the contact, and Tresca's law of friction is used to model the tangential response. An assessment of maximum tangential load capacity of attachment devices based on dry adhesive contact is performed using the described model and the effects of geometrical properties are investigated. The value of maximum shear stress in the contact of PVS and a silicon flat is identified. The model reveals that the tangential load capacity of the wall-shaped projection is independent of normal load, and that increasing the length of the adhesive flap, as well as decreasing its thickness provides better tangential load capacity.