Volume 8, No. 3, May 2019

General Information

  • ISSN: 2278-0149 (Online)
  • Abbreviated Title:  Int. J. Mech. Eng. Robot. Res.  
  • Editor-in-Chief: ​Prof Richard (Chunhui) Yang, Western Sydney University, Australia
  • Associate Editor: Prof. B.V. Appa Rao, Andhra University; Prof. Ian McAndrew, Capitol Technology University, USA
  • Managing Editor: Murali Krishna. B
  • DOI: 10.18178/ijmerr
  • Abstracting/Indexing: Scopus (since 2016), CNKI, Google Scholar, Crossref, etc.
  • E-mail questions to IJMERR Editorial Office.

Submissions

Please send your full manuscript to:

ijmerr@vip.163.com


Useful Documents

Paper Template

Copyright Transfer Agreement

Application For Reviewers

Contact us

International Journal of Mechanical Engineering and Robotics Research
E-mail: ijmerr@vip.163.com

Improvement of Pneumatic Chuck in Flexible Linear Stepping Actuator with Backdrivability

Nobuhiro Fukukawa, Tetsuya Akagi, Shujiro Dohta, Wataru Kobayashi and Yuya Eguchi
Department of Intelligent Mechanical Engineering, Okayama University of Science, Okayama, Japan

Abstract— The progress of Japanese aging society is getting worse. Therefore, the development of rehabilitation devices and power assistive devices is desired from the viewpoint of quality of life. In such devices, it is required to use human-friendly soft actuators. In ideal, the soft actuator with both a longer stroke and a larger generated force is required. Therefore, we have developed a various type of flexible linear stepping actuators that can push and pull the flexible tube while changing the gripping position of the tube. In this paper, the improvement of the pneumatic chucks for gripping the tube to increase the generated force is described. The construction and the operating principle of the improved pneumatic chucks are described. Generated force of the tested chuck is investigated. As a result, the actuator with improved chuck can generate larger force that is almost same as the theoretical generated force without slip.

Index Terms— Pneumatic chuck, Pneumatic flexible stepping actuator, Backdrivability, Pneumatic balloon, Soft actuator

Cite: Nobuhiro Fukukawa, Tetsuya Akagi, Shujiro Dohta, Wataru Kobayashi and Yuya Eguchi, "Improvement of Pneumatic Chuck in Flexible Linear Stepping Actuator with Backdrivability," International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 3, pp. 437-442, May 2019. DOI: 10.18178/ijmerr.8.3.437-442