• Structural Engineering and Mechanics
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• v.91 no.2
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• pp.211-225
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• 2024

Soft bending actuators have gained significant interest in robotic applications due to their compliance and lightweight nature. Their compliance allows for safer and more natural interactions with humans or other objects, reducing the risk of injury or damage. However, the nonlinear behaviour of soft actuators presents challenges in accurately predicting their bending motion and force exertion. In this research, a new comprehensive study has been conducted by employing a developed 3D finite element model (FEM) to investigate the effect of geometrical and material parameters on the bending behaviour of a soft pneumatic actuator reinforced with Kevlar fibres. A series of experiments are designed to validate the FE model, and the FE model investigates the improvement of actuator performance. The material used for fabricating the actuator is RTV-2 silicone rubber. In this study, the Cauchy stress was expanded for hyperelastic models and the best model to express the stress-strain behaviour based on ASTM D412 Type C tensile test for this material has been obtained. The results show that the greatest bending angle was achieved for the semi-elliptical actuator made of RTV2 material with a pitch of 1.5 mm and second layer thickness of 1 mm. In comparison, the maximum response force was obtained for the semi-elliptical actuator made of RTV2 material with a pitch of 6 mm and a second layer thickness of 2 mm. Additionally, this research opens up new possibilities for development of safer and more efficient robotic systems that can interact seamlessly with humans and their environment.

• Korean Journal of Materials Research
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• v.2 no.5
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• pp.366-374
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• 1992

Mechanical and impact properties of stitched S2 glass fiber reinforced polyester woven laminates composites have been studied. Laminates were stitched using Kevlar 49 thread with 1/2, 1, and 2 inch stitch spacing. Tensile and 3-point bending tests haute been performed to evaluate the mechanical properties of stitched and unstitched laminates. Impact tests at applied energy of 234.7J were performed to examine the impact behavior and toughness changes of the specimen. The same specimens were also tested repeatedly at low impact energy level of 110.2J for 3 times to evaluate damage tolerance properties. The tensile and 3-point bending test results showed that one inch spacing specimen had the highest tensile and flexural strength. It also showed the highest energy absorption capability and the best damage tolerance property at the repeated impact test. The half inch spacing specimen showed the lowest tensile strength and energy absorption property at the impact energy level of 234.7J, even though it had the highest frequency of stitching thread.

• Composites Research
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• v.18 no.3
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• pp.38-46
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• 2005

In order to characterize the outstanding performance of three-dimensional (3D) composites, the low velocity impact test has been carried out. 3D fiber structures have been achieved by using the automated tape placement (ATP) process and a stitching method. Materials for the ATP and the stitching process were carbon/epoxy prepreg tapes and Kevlar fibers, respectively. Two-dimensional composites with the same stacking sequence as 3D counterparts have also been fabricated for the comparison of damage tolerance. For the assessment of damage after the impact loading, specimens were subjected to C-Scan nondestructive inspection. Compression after impact (CAI) tests were conducted to evaluate residual compressive strength. The damage area of 3D composites was greatly reduced $(30-40\%)$ compared with that of 2D composites. Although the CAI strength did not show drastic improvement for 3D composites, the ratio of retained strength was $5-10\%$ higher than 2D samples. The effect of stitching on the impact performance was negligible above the energy level of 35 Joules.