공진 주파수 근처의 동적 공압 입력에 따른 소프트 엑츄에이터의 구동

Abstract

Soft actuator has benefit on its semi-infinite degree-of-freedom (DOF), and used in various underatuated systems. Using semi-infinite DOF property of soft actuator, generating complex motion with single system input is possible. In this paper, we propose a method to generate ellipsoidal tip motion using soft actuator with single pneumatic input. The actuator has only one pneumatic chamber, but pneumatic input with system’s excitation frequency generates additional motion. This motion is added to the deformation generated from pneumatic input, and finally ellipsoidal tip motion is achieved.