Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916515039674368 |
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| author | Ye, Brian Hao, Zhuonan Shah, Priya Jawed, Mohammad Khalid |
| author_facet | Ye, Brian Hao, Zhuonan Shah, Priya Jawed, Mohammad Khalid |
| contents | While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator system that addresses these challenges through a scalable, adaptable, and repairable framework, offering a cost-effective solution for versatile applications. The system integrates optimized donut-shaped actuation modules and utilizes real-time pressure feedback for synchronized operation, ensuring efficient object grasping and transport without relying on intricate sensing or control algorithms. Experimental results validate the system`s ability to accommodate objects with varying geometries and material characteristics, balancing robustness with flexibility. This work advances the principles of peristaltic actuation, establishing a pathway for safely and reliably manipulating delicate materials in a range of scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_06823 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport Ye, Brian Hao, Zhuonan Shah, Priya Jawed, Mohammad Khalid Robotics While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator system that addresses these challenges through a scalable, adaptable, and repairable framework, offering a cost-effective solution for versatile applications. The system integrates optimized donut-shaped actuation modules and utilizes real-time pressure feedback for synchronized operation, ensuring efficient object grasping and transport without relying on intricate sensing or control algorithms. Experimental results validate the system`s ability to accommodate objects with varying geometries and material characteristics, balancing robustness with flexibility. This work advances the principles of peristaltic actuation, establishing a pathway for safely and reliably manipulating delicate materials in a range of scenarios. |
| title | Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.06823 |