Snake-like soft robot using 2-chambers actuator
Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuat...
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| Format: | Article |
| Language: | en |
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Penerbit UTM Press
2018
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| Online Access: | http://eprints.uthm.edu.my/3560/1/AJ%202019%20%28137%29.pdf http://eprints.uthm.edu.my/3560/ https://doi.org/10.11113/elektrika.v17n1.39 |
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| author | Abdulrab, Hakim Q.A. Mohd Nordin, Ili Najaa Aimi Muhammad Razif, Muhammad Rusydi Faudzi, Ahmad Athif |
| author_facet | Abdulrab, Hakim Q.A. Mohd Nordin, Ili Najaa Aimi Muhammad Razif, Muhammad Rusydi Faudzi, Ahmad Athif |
| author_sort | Abdulrab, Hakim Q.A. |
| building | UTHM Library |
| collection | Institutional Repository |
| content_provider | Universiti Tun Hussein Onn Malaysia |
| content_source | UTHM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuator connected by rubber joints. The actuators are fabricated using silicon Silastic P-1 where each actuator link consists of two semi-circular chambers and are reinforced with fibers. Fabrication process from CAD design, mold fabrication and validation with simulation and experiment is presented. The fabricated actuators can bend at 27.5o with maximum pressure of 180 kPa. |
| format | Article |
| id | my.uthm.eprints-3560 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | en |
| publishDate | 2018 |
| publisher | Penerbit UTM Press |
| record_format | eprints |
| spelling | my.uthm.eprints-35602021-11-18T07:18:43Z http://eprints.uthm.edu.my/3560/ Snake-like soft robot using 2-chambers actuator Abdulrab, Hakim Q.A. Mohd Nordin, Ili Najaa Aimi Muhammad Razif, Muhammad Rusydi Faudzi, Ahmad Athif TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuator connected by rubber joints. The actuators are fabricated using silicon Silastic P-1 where each actuator link consists of two semi-circular chambers and are reinforced with fibers. Fabrication process from CAD design, mold fabrication and validation with simulation and experiment is presented. The fabricated actuators can bend at 27.5o with maximum pressure of 180 kPa. Penerbit UTM Press 2018 Article PeerReviewed text en http://eprints.uthm.edu.my/3560/1/AJ%202019%20%28137%29.pdf Abdulrab, Hakim Q.A. and Mohd Nordin, Ili Najaa Aimi and Muhammad Razif, Muhammad Rusydi and Faudzi, Ahmad Athif (2018) Snake-like soft robot using 2-chambers actuator. ELEKTRIKA Journal of Electrical Engineering, 17 (1). pp. 34-40. ISSN 0128-4428 https://doi.org/10.11113/elektrika.v17n1.39 |
| spellingShingle | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Abdulrab, Hakim Q.A. Mohd Nordin, Ili Najaa Aimi Muhammad Razif, Muhammad Rusydi Faudzi, Ahmad Athif Snake-like soft robot using 2-chambers actuator |
| title | Snake-like soft robot using 2-chambers actuator |
| title_full | Snake-like soft robot using 2-chambers actuator |
| title_fullStr | Snake-like soft robot using 2-chambers actuator |
| title_full_unstemmed | Snake-like soft robot using 2-chambers actuator |
| title_short | Snake-like soft robot using 2-chambers actuator |
| title_sort | snake-like soft robot using 2-chambers actuator |
| topic | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | http://eprints.uthm.edu.my/3560/1/AJ%202019%20%28137%29.pdf http://eprints.uthm.edu.my/3560/ https://doi.org/10.11113/elektrika.v17n1.39 |
| url_provider | http://eprints.uthm.edu.my/ |