NDLI: A Bending Pneumatic Rubber Actuator Realizing Soft-bodied Manta Swimming Robot

Content Provider	IEEE Xplore Digital Library
Author	Suzumori, K. Endo, S. Kanda, T. Kato, N. Suzuki, H.
Copyright Year	2007
Description	Author affiliation: Okayama Univ. (Suzumori, K.; Endo, S.; Kanda, T.)
Abstract	This paper shows a new design and prototyping method for a bending pneumatic rubber actuator and its application to a soft-bodied manta swimming robot. The design is based on optimal design using non-linear finite element method, in which geometrical and material non-linearity are considered and fabrication process is based on a rapid and efficient prototyping system using a CAD/CAM based rubber molding process. In this paper, the characteristics of several possible actuators are analyzed and evaluated to lead to an optimal actuator design. The actuator works very well with smooth and soft motion. The manta swimming robot in which the developed actuators are embedded is also designed based on non-linear finite element method. The developed manta swimming robot is made only of rubber and it swims in water smoothly as if it was a living fish. The experimental results of the manta robot motion show that good agreement with those of analytical results.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	4975
Ending Page	4980
File Size	5961751
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.364246
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Rubber Pneumatic actuators Robots Prototypes Finite element methods Design methodology Fabrication Design automation Computer aided manufacturing CADCAM
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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