The work described in this paper aims at exploiting the characteristic of a special deformable actuator with rolling membranes to realize a device with defined Remote Center of Compliance (RCC). Starting from theoretical approaches to the definition of the RCC, the authors propose a novel and simple formulation that can be applied to the soft actuator to determine its RCC. The position of the device’s RCC was determined by creating an asymmetry on the geometry of the device along its axis, i.e., by imposing a longitudinal displacement to the piston with respect to the membranes’ rest condition. FEM simulations of the device behavior were carried out and a first formulation describing the placement of the RCC by varying the operating pressure was found. Finally, a comparison of the theoretical model and FEM results is presented, validating the proposed formulation.

A New Soft RCC Device with Pneumatic Regulation

Muscolo, G. G.
;
2020

Abstract

The work described in this paper aims at exploiting the characteristic of a special deformable actuator with rolling membranes to realize a device with defined Remote Center of Compliance (RCC). Starting from theoretical approaches to the definition of the RCC, the authors propose a novel and simple formulation that can be applied to the soft actuator to determine its RCC. The position of the device’s RCC was determined by creating an asymmetry on the geometry of the device along its axis, i.e., by imposing a longitudinal displacement to the piston with respect to the membranes’ rest condition. FEM simulations of the device behavior were carried out and a first formulation describing the placement of the RCC by varying the operating pressure was found. Finally, a comparison of the theoretical model and FEM results is presented, validating the proposed formulation.
Air pressure chamber; Diaphragm seals; Hyperplastic membrane; RCC; Remote center of compliance; Soft actuator; Variable stiffness actuator
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/11562/1048806
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact