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Article

Response Surface Methodology for Kinematic Design of Soft Pneumatic Joints: An Application to a Bio-Inspired Scorpion-Tail-Actuator

by
Michele Gabrio Antonelli
,
Pierluigi Beomonte Zobel
and
Nicola Stampone
*
Department of Industrial and Information Engineering and Economy (DIIIE), University of L’Aquila, P. le Pontieri 1, Località Monteluco, 67100 L’Aquila, Italy
*
Author to whom correspondence should be addressed.
Machines 2024, 12(7), 439; https://doi.org/10.3390/machines12070439
Submission received: 31 May 2024 / Revised: 20 June 2024 / Accepted: 25 June 2024 / Published: 26 June 2024
(This article belongs to the Special Issue Intelligent Bio-Inspired Robots: New Trends and Future Perspectives)

Abstract

In soft robotics, the most used actuators are soft pneumatic actuators because of their simplicity, cost-effectiveness, and safety. However, pneumatic actuation is also disadvantageous because of the strong non-linearities associated with using a compressible fluid. The identification of analytical models is often complex, and finite element analyses are preferred to evaluate deformation and tension states, which are computationally onerous. Alternatively, artificial intelligence algorithms can be used to follow model-free and data-driven approaches to avoid modeling complexity. In this work, however, the response surface methodology was adopted to identify a predictive model of the bending angle for soft pneumatic joints through geometric and functional parameters. The factorial plan was scheduled based on the design of the experiment, minimizing the number of tests needed and saving materials and time. Finally, a bio-inspired application of the identified model is proposed by designing the soft joints and making an actuator that replicates the movements of the scorpion’s tail in the attack position. The model was validated with two external reinforcements to achieve the same final deformation at different feeding pressures. The average absolute errors between predicted and experimental bending angles for I and II reinforcement allowed the identified model to be verified.
Keywords: bio-inspiration; design of experiment; response surface methodology; soft pneumatic actuator; soft robotics bio-inspiration; design of experiment; response surface methodology; soft pneumatic actuator; soft robotics

Share and Cite

MDPI and ACS Style

Antonelli, M.G.; Beomonte Zobel, P.; Stampone, N. Response Surface Methodology for Kinematic Design of Soft Pneumatic Joints: An Application to a Bio-Inspired Scorpion-Tail-Actuator. Machines 2024, 12, 439. https://0-doi-org.brum.beds.ac.uk/10.3390/machines12070439

AMA Style

Antonelli MG, Beomonte Zobel P, Stampone N. Response Surface Methodology for Kinematic Design of Soft Pneumatic Joints: An Application to a Bio-Inspired Scorpion-Tail-Actuator. Machines. 2024; 12(7):439. https://0-doi-org.brum.beds.ac.uk/10.3390/machines12070439

Chicago/Turabian Style

Antonelli, Michele Gabrio, Pierluigi Beomonte Zobel, and Nicola Stampone. 2024. "Response Surface Methodology for Kinematic Design of Soft Pneumatic Joints: An Application to a Bio-Inspired Scorpion-Tail-Actuator" Machines 12, no. 7: 439. https://0-doi-org.brum.beds.ac.uk/10.3390/machines12070439

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