Sachin Sachin

2 accepted papers

2022

Analytical Modeling of a Membrane-Based Pneumatic Soft Gripper

Sachin Sachin, Zhongkui Wang, Takahiro Matsuno, Shinichi Hirai

RA-L 2022

Finite deformation is the principal actuation basis of elastomer-based pneumatic soft actuators. Desired deformation behavior is the key design requirement for such actuators. The objective of current study is to optimize the design of a flat shell gripper and to investigate its interaction with a c

Cited by 11 Source ↗Scholar ↗

2021

Analytical Modeling of a Soft Pneu-net Actuator Based on Finite Strain Beam Theory

Sachin Sachin, Zhongkui Wang, Shinichi Hirai

IROS 2021poster

In this paper, we propose a simple analytical model for pneu-net soft actuator. The model is based on Euler– Bernoulli finite strain hyperelastic thin cantilever beam theory. The deformation of the air chambers is modelled using infinitesimal strain membrane theory. The proposed theoretical model es…

Cited by 5 Source ↗Scholar ↗