Simulation and optimization of multifunctional pneumatic fibre robot through thermal drawing fabrication

• Main Author: Ran, Beihang
• Other Authors: Wei Lei
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2024
• Subjects: Engineering; Pneumatic soft robotics; Fibre; Thermal drawing fabrication; Inflation of cylindrical shells; Hyperelasticity; Cosserat rod
• Online Access: https://hdl.handle.net/10356/181782
• Institution: Nanyang Technological University

Pneumatic soft robots are widely used in medical, industrial, and rescue fields, but traditional designs are often large in size. By utilizing thermal drawing technology in the manufacturing of pneumatic soft robotic fiber structures, wires and sensors can be integrated within the actuator, thereby significantly reducing the robot's overall size. The combination of various fibers achieves different functions, such as grasping and movement. This paper comprehensively explores the mechanical behavior of pneumatic fiber robots, focusing primarily on the instability during the fiber inflation process. Using the Cosserat rod theory to model the dynamics and kinematics of fiber robots. This study combines theoretical analysis, experimental research, and simulation to provide a comprehensive understanding of the underlying mechanics.