Soft pneumatic actuators (SPAs) that can perform three-dimensional movements are being developed to perform more diverse tasks beyond simple bending. The conventional PneuNet actuators have expansion limit layers, which can obtain more tip force by limiting the expansion of the bottom. However, the presence of the expansion limit layer impedes other motions, such as rotation, when configured with multiple channels. In this study, we propose a two-chamber PneuNet actuator (TPA) to which the expansion limit line (ELLINE) is applied to obtain a force gain without a limitation on rotational motion due to the expansion limit layer. We perform a finite element analysis (FEA) on three designs that can rotate and bend using two-chamber to find the optimal design. The effects on twisting, bending, and tip force according to the width of the ELLINE on the selected design were then verified through an FEA. After measuring rotation and bending for the fabricated actuator with and without the ELLINE. In the case of the fabricated TPA with the ELLINE, the bending decreased by 19.8%. However, rotation increased by 22.8%, tip force increased by 1.53 times (with the ELLINE the force is 2.77 N in 70 kPa; without the ELLINE it is 1.8 N in 70 kPa), and grasping force increased by 5 times (with the ELLINE the force is 500 gf in 70 kPa, without the ELLINE it is 100 gf in 70 kPa). Furthermore, we fabricated a gripper using three actuators, capable of holding a weight of 505 g and objects of various shapes.

中文翻译：

---

一种带有膨胀极限线的增力两腔软执行器

人们正在开发能够执行三维运动的软气动执行器 (SPA)，以执行简单弯曲之外的更多不同任务。传统的PneuNet执行器具有膨胀限制层，可以通过限制底部的膨胀来获得更大的尖端力。然而，当配置有多个通道时，扩展限制层的存在会阻碍其他运动，例如旋转。在本研究中，我们提出了一种两室 PneuNet 执行器（TPA），应用膨胀限制线（ELLINE）来获得力增益，而不会因膨胀限制层而限制旋转运动。我们对三种可以使用两腔室旋转和弯曲的设计进行有限元分析 (FEA)，以找到最佳设计。然后通过 FEA 验证所选设计上 ELLINE 宽度对扭转、弯曲和端部力的影响。在使用和不使用 ELLINE 的情况下测量制造的执行器的旋转和弯曲。在使用 ELLINE 制造的 TPA 中，弯曲度降低了 19.8%。然而，旋转增加了 22.8%，尖端力增加了 1.53 倍（使用 ELLINE，70 kPa 下的力为 2.77 N；不使用 ELLINE，70 kPa 下的力为 1.8 N），抓握力增加 5 倍（使用 ELLINE）力为 70 kPa 下的 500 gf，如果没有 ELLINE，则为 70 kPa 下的 100 gf）。此外，我们使用三个执行器制造了一个夹具，能够容纳 505 克的重量和各种形状的物体。