Abstract:
Bellows-like actuators are popular in soft robotic systems. Sensing the movement of these actuators with traditional sensors is challenging. This work proposes and tests ...Show MoreMetadata
Abstract:
Bellows-like actuators are popular in soft robotic systems. Sensing the movement of these actuators with traditional sensors is challenging. This work proposes and tests a sensing system based on the changing mutual inductance of wire coils on bellows. A method for modeling the changes in mutual inductance between coils of tightly-packed wires is introduced. Changes in mutual inductance are measured through the self-inductance of a circuit made up of the coils in series. The self-inductance of the circuit measures the bellows bend-angle. The experiments show an approximately quadratic relationship between the bend angle and the measured inductance. From a bend angle of 121 ° to −67 ° the inductance of the circuit increases by 19 %. The bias-inducing effects of shear strain, torsional strain, non-uniform bending, and nearby metal are also explored.
Date of Conference: 09-14 October 2016
Date Added to IEEE Xplore: 01 December 2016
ISBN Information:
Electronic ISSN: 2153-0866
Mechanical Engineering, University of Michigan, Ann Arbor, Michigan, USA
Mechanical Engineering, University of Michigan, Ann Arbor, Michigan, USA
Robotics and Motion Laboratory (RAMlab), Mechanical Engineering-University of Michigan, Ann Arbor, USA
Contents Mechanical Engineering, University of Michigan, Ann Arbor, Michigan, USA
Mechanical Engineering, University of Michigan, Ann Arbor, Michigan, USA
Robotics and Motion Laboratory (RAMlab), Mechanical Engineering-University of Michigan, Ann Arbor, USA
