Design improvement of the conversion mechanism from balloon inflation to bending motion for inflatable film actuators  

作　　者：Y.Hori S.Konishi 

机构地区：[1]Graduate School of Science and Engineering,Ritsumeikan University,Shiga,Japan [2]Department of Mechanical Engineering,Ritsumeikan University,Shiga,Japan [3]Ritsumeikan Advanced Research Academy,Kyoto,Japan [4]Ritsumeikan Global Innovation Research Organization,Kyoto,Japan

出　　处：《Microsystems & Nanoengineering》2023年第3期159-170,共12页微系统与纳米工程（英文）

基　　金：The authors would like to thank the Ritsumeikan Advanced Research Academy and the Ritsumeikan Global Innovation Research Organization for their financial support.

摘　　要：Various soft actuators have been investigated to overcome the drawbacks of conventional solid machines and explore the applications of soft robotics.In particular,and because they are expected to be applicable in minimally invasive medicine because of their safety,soft inflatable microactuators using an actuation conversion mechanism from balloon inflation to bending motion have been proposed for high-output bending motion.These microactuators could be applied to create an operation space by safely moving organs and tissues;however,the conversion efficiency could be further improved.This study aimed to improve conversion efficiency by investigating the design of the conversion mechanism.The contact conditions between the inflated balloon and conversion film were examined to improve the contact area for force transmission,with the contact area dependent on the length of the contact arc between the balloon and force conversion mechanism and on the amount of balloon deformation.In addition,surface contact friction between the balloon and film,which affects actuator performance,was also investigated.The generated force of the improved device is 1.21 N at 80 kPa when it bends 10 mm,which is 2.2 times the generated force of the previous design.This improved soft inflatable microactuator is expected to assist in performing operations in a limited space,such as in endoscopic or laparoscopic operations.

关 键 词：FILM MECHANISM operations 

分 类 号：TB383[一般工业技术—材料科学与工程]