TESTING SYSTEM FOR MEASURING FORCE, MOMENT, AND ANGLE OF SOFT ROBOTIC SILICONE FINGERS.
Patent Information
- Application Number
- TR202516601
- Authority / Receiving Office
- TR · TR
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-11-04
- Publication Date
- 2026-09-21
Smart Images
Figure 00000008_0000
Abstract
Description
1 TARIFF SOFT ROBOTIC SILICONE FINGERS FORCE, MOMENT AND ANGLE MEASUREMENT TEST SYSTEM Technical Area The invention enables the measurement of force, moment, and angle of flexible, flexible pneumatic muscles. By doing this, the relevant muscles can be used in industrial grippers and medical prostheses. It relates to a test system that can be used in assessing suitability. Previous Technique Advances in the field of soft robotics, especially pneumatically driven soft robots, This has accelerated the development of actuators and artificial muscles. These actuators, 10 their natural flexibility, lightweight structure, and safety in human-robot interaction from industrial retainers to biocompatible medical prostheses due to their potential It offers a wide range of application potential. An actuator a specific application (for example, carrying a delicate surgical instrument or a heavy part) To determine whether it is suitable for (an industrial gripper), mechanical 15 Precise measurement and characterization of its properties is of critical importance. This characterization process determines how much the actuator performs under a specific pressure. force produces moment (torque) and what kind of motion (angular or linear) It involves understanding what is being displayed. In the current technique, various tests are used for the characterization of pneumatic artificial muscles. Mechanisms and setups have been developed. Studies in this field generally consist of two main approaches. It can be examined in the main category: Test Systems for Linear Pneumatic Muscles: Traditional McKibben Developed for testing axially contracting actuators, such as type muscles. Systems that fall into this category. These devices usually consist of 25 fixed at one end. A load cell and a position sensor (for example,) are attached to the other end of the muscle. It is based on the principle of connecting an LVDT (or linear encoder). The system requires controlled operation. by applying pressure, the pulling force produced by the muscle in response to the amount of muscle contraction. 2 Measurements are taken and force-displacement graphs are obtained. Such systems are linear. The characterization of motion has become quite advanced and standardized. However These mechanisms, by their nature, involve nonlinear and bending / bending motion. It is insufficient for measuring the performance of the actuators being exhibited. Test Systems for Bending Soft Actuators: Soft Robotics 5 actuators that perform bending movements such as gripping fingers or prosthetic joints Testing is a more complex problem. The performance of these actuators is not just not only the force along a single axis, but also the moment they produce and the results they obtain It is defined by the angle of bending. 10 titled Contact mechanics for soft robotic fingers: modeling and experimentation in the document, from contact mechanics for soft robotic fingers It is mentioned. Assistive robotic hand with bi-directional soft actuator for hand impaired patients The document titled [Title of Document] actively controls the bending and extension of the fingers. A soft, wearable robot with an elastomer-based bidirectional soft actuator 15 The hand is explained. In conclusion, when the current technology is examined, especially for flexible soft materials... suitability of pneumatic muscles for industrial and medical applications to evaluate, simultaneously, 20 a standardized test system that can perform synchronized and reliable tests There appears to be a need for this. The complexity of existing solutions, High cost and being specific to a particular actuator make new actuator designs challenging. this constitutes an obstacle to testing and verifying it quickly and efficiently. is doing. Purpose of the Invention 25 The aim of this invention is to enable flexible, flexible pneumatic muscles to control force, moment, and angle. By taking measurements, the relevant muscles are used in industrial retainers and medical prostheses. a test system that can be used to assess suitability for use It is the development of. 3 Detailed Description of the Invention The test system developed to achieve the purpose of this invention is attached. It has been shown. This shape; Figure 1: Schematic view of the test system that is the subject of the invention. 5 The parts shown in the figures are individually numbered, and these numbers... The corresponding answers are given below. 1. Horizontal profile 2. Vertical profile 3. Support I 10 4. Support II 5. Support III 6. Holder 7. Force Gauge 8. Angle sheet 15 9. Air intake pipe 10. Knurled nut – bolt connections The invention enables the measurement of force, moment, and angle of flexible, flexible pneumatic muscles. By doing this, the relevant muscles can be used in industrial grippers and medical prostheses. It relates to a test system that can be used in assessing suitability, 20 − A horizontal profile (1) and a vertical profile (2) that form the main skeleton of the system, − Support I (3) which enables the horizontal profile (1) to be connected to the vertical profile (2), − Support II (4) and support III which provide support for the vertical profile (2). (5), − 25 that enables the artificial muscle connected to the system to be fixed with the horizontal profile (1). pneumatic artificial muscle gripper (6), 4 − Force meter connected to the pneumatic artificial muscle gripper (6) with magnets (7), - The flexible pneumatic artificial muscle in its free state at different pressure values Angle paper used as a reference in measuring the amount of rotation (8), − The pneumatic artificial casing, which is inclined by the compressor system it is connected to, releases 5 of the air. air inlet pipe (9) that enables transmission, − Fixing the horizontal and vertical profiles (1, 2) and moving them easily. caterpillar nut-bolt connections (10) that enable them to do so It includes. In order to conduct experiments in the test system that is the subject of this invention, actuators 10 are required. (flexible pneumatic artificial muscle) soft designed gripper (6) It is connected to horizontal and vertical aluminum profiles (1, 2) and supports (3, 4, 5). The actuator is secured by loosening the caterpillar nut-bolt connections (10) that fasten it. The position is adjusted according to the height. Experiments are performed using the interface program 0– Pressurization is carried out in a pressure range of 1.2 bar, in increments of 0.1 bar. Pressurization 15 The operation is carried out via the air inlet pipe (9) connected to the compressor. By means of the pressure regulator located between the compressor and the air inlet pipe (9) The pressure is adjusted to the desired value according to the command received from the interface. In the bending angle measurement experiment, the magnet connection was removed and the force meter (7) was tested. It is removed from its arrangement and in its free state, 20 is drawn at each pressure level. In the photographs, the angle of inclination is measured by referencing the angle paper (8). In the force and moment measurement experiment, the force gauge (7) is placed perpendicular to the actuator end. The devices are fixed in place and contact force data is collected. Additionally... Moment data is calculated from the equation "force * arm". In the system described in this invention, the pneumatic artificial muscle is primarily positioned vertically and consists of 25 The effect of weight becomes negligible in the measurement of force, moment, and angle. It was brought in. In addition, the pneumatic artificial muscle was held in place by a movable mechanism and Thus, tests can now be performed to determine the desired muscle size. The main frame of the test system, which is the subject of the invention, is connected to each other by plastic supports (3, 4, 5). a connected horizontal aluminum profile (1) and a vertical aluminum profile (2) These profiles consist of the channels on them and the elements placed in these channels. Their positions can be adjusted thanks to the caterpillar nut – bolt connections (10). It allows. 5 Horizontal and vertical aluminum profiles (1, 2): These profiles are the bending profiles to be tested. The main unit that allows adjustment of the position of the pneumatic artificial muscle and its holder (6) They are carriers. Plastic support II (4) and plastic support III (5) are attached to a vertical aluminum profile (2). It ensures that it is fixed to the back plate. The plastic support I (3) is horizontal aluminum 10 It enables the profile (1) to be transported by being connected to the vertical aluminum profile (2). Knurled nut - bolt connections (10): For fastening aluminum profiles (1, 2) and allows their positions to be adjusted. When these connections are loosened, the profiles (1, 2) It can be easily moved in horizontal and vertical axes, and when tightened... It is fixed in the desired position. The fixing process involves using bolts with knurled nuts and plastic 15mm threads. This is achieved by tightening it towards the supports (3, 4, 5). Plastic bending pneumatic artificial muscle gripper (6): An artificial muscle to be tested It ensures that it is supported by being fixed at the end. This holder (6) is a horizontal aluminum It is fixed to the profile (1) with a bolt. Air inlet pipe (9): Compressed air from a compressor system, inclined 20 The pneumatic device transmits impulses to the muscle, enabling muscle movement. Angle sheet (8): Different pressures of the bending pneumatic artificial muscle left in a relaxed state measuring how much rotational movement it makes under certain values as a reference It is used so that the angle between the lines on it corresponds to 5 degrees. It is designed. 25 Force meter (7): Used to measure the force produced by the artificial muscle. Magnets This magnetic coupling is fixed to the system. This magnetic coupling is fixed to the position of the force meter (7). This allows for easy modification. In this way, the muscle can withstand a specific pressure. 6 while underneath, it exerts both the force in its vertical position (with the tip blocked), and The force produced can be measured at different rotation angles. The position of the force gauge (7) can be adjusted according to the desired angle and position. It is structured.
Claims
7 REQUESTS 1. The invention relates to the force, moment, and angle of flexible, flexible pneumatic muscles. By taking measurements, the relevant muscles in industrial grippers and medical applications... 5 that can be used in evaluating suitability for use in prostheses It relates to a test system, − a horizontal profile (1) and a vertical profile forming the main skeleton of the system profile (2), − Support I which enables the horizontal profile (1) to be connected to the vertical profile (2) (3), 10 - Support II (4) which provides support for the vertical profile (2) and support III (5), − fixation of the artificial muscle to the system in connection with the horizontal profile (1) pneumatic artificial muscle gripper (6), − 15 connected to the pneumatic artificial muscle gripper (6) with magnets force meter (7), - different pressures of the freely bending pneumatic artificial muscle as a reference in measuring the amount of rotation in their values the angle paper used (8), It is characterized by its inclusion. 20 2. The invention relates to a test system as described in Claim 1, and to which it is connected. air is transmitted through a pneumatic artificial casing that is inclined by a compressor system. It is characterized by containing an air intake pipe (9) that provides air supply.
3. The invention relates to a test system as described in claim 2, involving horizontal and vertical... 25 that enables the profiles (1, 2) to be fixed and to move easily. It is characterized by containing knurled nut-bolt connections (10).
4. The invention relates to a test system as in claim 3, and the opening paper (18) with reference lines showing 5-degree angles It is characterized by...