Instrumentation & Measurement Magazine 26-3 - 27

Fig. 1. (a) Pneumatic soft finger structure diagram; (b) Schematic diagram of simulated strain results.
where ʋ is the Poisson's coefficient, and P11
tween λ and ε.
Structural Simulation and Optimization
We use Finite Element Analysis (FEA) to simulate and optimize
the pneumatic finger structure. Fig.1a is a diagram of the
pneumatic soft finger structure. The whole length of soft finger
is set at 68 mm, the number of air chambers n is 5, and pneumatic
unit height h is 20 mm, which is also more in line with
the overall size of a bionic finger. The initial distance of the
pneumatic element d is 4 mm, and the initial wall thickness t is
2 mm. The soft finger material is silica gel. The material properties
are as follows: Young's modulus is 4 Mpa, Poisson's
ratio is 0.47, and density is
0.98 g/cm3
. Fig.1b shows
the equivalent diagram
of deformation when the
pneumatic finger imposes a
fixed constraint at one end
and the pressure of 10 Kpa
is applied inside. The main
intention of the simulation
is to optimize the
parameters of the distance
d between the aerodynamic
units and the wall thickness
t of the units.
Fabrication of
Soft Hand Tactile
Sensor
In terms of manufacturing
technology, the wax-loss
casting process was adopted
to form an integrated
pneumatic finger. The
whole process is shown in
Fig. 2. First, the liquid silica
gel was poured into the
mold, and the wax core
May 2023
and P12
are Pockel's
coefficients of the strain optical tensor. For specific types of
fiber, Pe
is a fixed value. Thus, there is a linear relationship bemodel
was removed from the silica gel after it solidified. The
silica gel part was retained, and the silica gel was used as the
main mold for liquid paraffin pouring. Then the melted liquid
paraffin was poured into the wax core mold of silica gel material.
After natural cooling and solidification, the wax core was
removed to obtain the internal air chamber structure made of
paraffin. The wax core was put into the finger mold. Note that
a layer of petroleum jelly coated the mold wall to serve as a release
agent to facilitate the release of silica gel after curing and
forming. The top was covered, the liquid silica gel was mixed
thoroughly with the coagulant at a ratio of 100:2, and then it
was poured slowly from one side of the mold until the liquid
level of the silica gel was flush with the top cover, in an attempt
to reduce the generation of bubbles in the process. After the silica
gel was completely cured, the soft fingers were removed
Fig. 2. Lost wax casting process of pneumatic finger.
IEEE Instrumentation & Measurement Magazine
27

Instrumentation & Measurement Magazine 26-3

Table of Contents for the Digital Edition of Instrumentation & Measurement Magazine 26-3

Instrumentation & Measurement Magazine 26-3 - Cover1
Instrumentation & Measurement Magazine 26-3 - Cover2
Instrumentation & Measurement Magazine 26-3 - 1
Instrumentation & Measurement Magazine 26-3 - 2
Instrumentation & Measurement Magazine 26-3 - 3
Instrumentation & Measurement Magazine 26-3 - 4
Instrumentation & Measurement Magazine 26-3 - 5
Instrumentation & Measurement Magazine 26-3 - 6
Instrumentation & Measurement Magazine 26-3 - 7
Instrumentation & Measurement Magazine 26-3 - 8
Instrumentation & Measurement Magazine 26-3 - 9
Instrumentation & Measurement Magazine 26-3 - 10
Instrumentation & Measurement Magazine 26-3 - 11
Instrumentation & Measurement Magazine 26-3 - 12
Instrumentation & Measurement Magazine 26-3 - 13
Instrumentation & Measurement Magazine 26-3 - 14
Instrumentation & Measurement Magazine 26-3 - 15
Instrumentation & Measurement Magazine 26-3 - 16
Instrumentation & Measurement Magazine 26-3 - 17
Instrumentation & Measurement Magazine 26-3 - 18
Instrumentation & Measurement Magazine 26-3 - 19
Instrumentation & Measurement Magazine 26-3 - 20
Instrumentation & Measurement Magazine 26-3 - 21
Instrumentation & Measurement Magazine 26-3 - 22
Instrumentation & Measurement Magazine 26-3 - 23
Instrumentation & Measurement Magazine 26-3 - 24
Instrumentation & Measurement Magazine 26-3 - 25
Instrumentation & Measurement Magazine 26-3 - 26
Instrumentation & Measurement Magazine 26-3 - 27
Instrumentation & Measurement Magazine 26-3 - 28
Instrumentation & Measurement Magazine 26-3 - 29
Instrumentation & Measurement Magazine 26-3 - 30
Instrumentation & Measurement Magazine 26-3 - 31
Instrumentation & Measurement Magazine 26-3 - 32
Instrumentation & Measurement Magazine 26-3 - 33
Instrumentation & Measurement Magazine 26-3 - 34
Instrumentation & Measurement Magazine 26-3 - 35
Instrumentation & Measurement Magazine 26-3 - 36
Instrumentation & Measurement Magazine 26-3 - 37
Instrumentation & Measurement Magazine 26-3 - 38
Instrumentation & Measurement Magazine 26-3 - 39
Instrumentation & Measurement Magazine 26-3 - 40
Instrumentation & Measurement Magazine 26-3 - 41
Instrumentation & Measurement Magazine 26-3 - 42
Instrumentation & Measurement Magazine 26-3 - 43
Instrumentation & Measurement Magazine 26-3 - 44
Instrumentation & Measurement Magazine 26-3 - 45
Instrumentation & Measurement Magazine 26-3 - 46
Instrumentation & Measurement Magazine 26-3 - 47
Instrumentation & Measurement Magazine 26-3 - 48
Instrumentation & Measurement Magazine 26-3 - 49
Instrumentation & Measurement Magazine 26-3 - 50
Instrumentation & Measurement Magazine 26-3 - 51
Instrumentation & Measurement Magazine 26-3 - 52
Instrumentation & Measurement Magazine 26-3 - 53
Instrumentation & Measurement Magazine 26-3 - 54
Instrumentation & Measurement Magazine 26-3 - 55
Instrumentation & Measurement Magazine 26-3 - 56
Instrumentation & Measurement Magazine 26-3 - 57
Instrumentation & Measurement Magazine 26-3 - 58
Instrumentation & Measurement Magazine 26-3 - 59
Instrumentation & Measurement Magazine 26-3 - 60
Instrumentation & Measurement Magazine 26-3 - 61
Instrumentation & Measurement Magazine 26-3 - Cover3
Instrumentation & Measurement Magazine 26-3 - Cover4
https://www.nxtbook.com/allen/iamm/26-6
https://www.nxtbook.com/allen/iamm/26-5
https://www.nxtbook.com/allen/iamm/26-4
https://www.nxtbook.com/allen/iamm/26-3
https://www.nxtbook.com/allen/iamm/26-2
https://www.nxtbook.com/allen/iamm/26-1
https://www.nxtbook.com/allen/iamm/25-9
https://www.nxtbook.com/allen/iamm/25-8
https://www.nxtbook.com/allen/iamm/25-7
https://www.nxtbook.com/allen/iamm/25-6
https://www.nxtbook.com/allen/iamm/25-5
https://www.nxtbook.com/allen/iamm/25-4
https://www.nxtbook.com/allen/iamm/25-3
https://www.nxtbook.com/allen/iamm/instrumentation-measurement-magazine-25-2
https://www.nxtbook.com/allen/iamm/25-1
https://www.nxtbook.com/allen/iamm/24-9
https://www.nxtbook.com/allen/iamm/24-7
https://www.nxtbook.com/allen/iamm/24-8
https://www.nxtbook.com/allen/iamm/24-6
https://www.nxtbook.com/allen/iamm/24-5
https://www.nxtbook.com/allen/iamm/24-4
https://www.nxtbook.com/allen/iamm/24-3
https://www.nxtbook.com/allen/iamm/24-2
https://www.nxtbook.com/allen/iamm/24-1
https://www.nxtbook.com/allen/iamm/23-9
https://www.nxtbook.com/allen/iamm/23-8
https://www.nxtbook.com/allen/iamm/23-6
https://www.nxtbook.com/allen/iamm/23-5
https://www.nxtbook.com/allen/iamm/23-2
https://www.nxtbook.com/allen/iamm/23-3
https://www.nxtbook.com/allen/iamm/23-4
https://www.nxtbookmedia.com