TY - GEN
T1 - Modeling the behavior of elastic pouch motors
AU - Arfaee, Maziar
AU - Kluin, Jolanda
AU - Overvelde, Johannes T. B.
N1 - Funding Information: *This work is funded by the European Union Horizon 2020 research and innovation programme under grant agreement no. 767195. Publisher Copyright: © 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Pouch motors are one of the recently developed soft actuators, which are known particularly for their low-weight, ease of fabrication and large stroke. To date, several studies have been performed to develop and model new pouch motors designs to improve their functionality. All models assume that the material is behaving inextensibly, i.e. not stretchable. Here, we propose an analytical model for pouch motors where we consider the materials to be stretchable, and show that stretchability of pouch motors sets a limit for the maximum contraction and force, and therefore cannot be neglected even when using nearly inextensible materials. We evaluate our model qualitatively by conducting 'blocked-displacement' experiments on single pouches made of various materials with different elasticity.
AB - Pouch motors are one of the recently developed soft actuators, which are known particularly for their low-weight, ease of fabrication and large stroke. To date, several studies have been performed to develop and model new pouch motors designs to improve their functionality. All models assume that the material is behaving inextensibly, i.e. not stretchable. Here, we propose an analytical model for pouch motors where we consider the materials to be stretchable, and show that stretchability of pouch motors sets a limit for the maximum contraction and force, and therefore cannot be neglected even when using nearly inextensible materials. We evaluate our model qualitatively by conducting 'blocked-displacement' experiments on single pouches made of various materials with different elasticity.
UR - http://www.scopus.com/inward/record.url?scp=85160510874&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/RoboSoft55895.2023.10122046
DO - https://doi.org/10.1109/RoboSoft55895.2023.10122046
M3 - Conference contribution
T3 - 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023
BT - 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023
Y2 - 3 April 2023 through 7 April 2023
ER -