Universiti Teknologi Malaysia Institutional Repository

Two-chambers soft actuator bending and rotational properties for underwater application

Razif, M. R. M. and Faudzi, A. A. and Nordin, I. N. A. M. and Rehman, T. and Dewi, D. E. O. (2019) Two-chambers soft actuator bending and rotational properties for underwater application. ndonesian Journal of Electrical Engineering and Computer Science, 6 (2). pp. 669-677. ISSN 2502-4752


Official URL: http://www.dx.doi.org/10.11591/ijeecs.v16.i2.pp669...


This paper presents a study on bending and rotational properties of two-chambers soft actuator for underwater application. Previous study demonstrated the actuator characteristics required to optimize the bending performance and its potential to perform underwater because of the actuator material. However, there is less study of the actuator performance underwater as well as how the actuator tips rotating during actuator bending motion. In this paper, three tests have been proposed which are comparisons of bending angle simulation and experiment in air environment, bending angle performance in air and underwater environment as well as rotational angle of actuator tip in air environment. The bending angle of soft actuator is measured based on displacement in horizontal and vertical axis and for rotational angle, gyro sensor has been used. Based on the analysis, it is proven that the fabricated soft actuator performs almost similar trend to the simulation. It is also demonstrated that the actuator performs almost double bending motion underwater environment compared to in air environment at the same pressure, and the actuator is able to rotate 90ºin air environment with the supplied pressure 52 kPa.

Item Type:Article
Uncontrolled Keywords:bending, rotational, soft actuator
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:89699
Deposited By: Narimah Nawil
Deposited On:22 Feb 2021 09:44
Last Modified:22 Feb 2021 09:44

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