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A framework for the design of soft pneumatic actuators using computational tools.
Thesis (MEng)--Stellenbosch University, 2024.
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| Format: | Thesis |
| Language: | en_ZA en_ZA |
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Stellenbosch : Stellenbosch University
2024
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| _version_ | 1867613787740176384 |
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| access_status_str | Open Access |
| author | Ligthart, Philip Frederik |
| author2 | Venter, MP |
| author_browse | Ligthart, Philip Frederik Venter, MP |
| author_facet | Venter, MP Ligthart, Philip Frederik |
| author_sort | Ligthart, Philip Frederik |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MEng)--Stellenbosch University, 2024. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/130435 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA en_ZA |
| last_indexed | 2026-06-10T12:41:42.083Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2024 |
| publishDateRange | 2024 |
| publishDateSort | 2024 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/130435 A framework for the design of soft pneumatic actuators using computational tools. Ligthart, Philip Frederik Venter, MP Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. Finite element method Actuators Pneumatic control UCTD Thesis (MEng)--Stellenbosch University, 2024. ENGLISH ABSTRACT: Soft pneumatic actuators o er significant potential for advanced robotics due to their application versatility as a result of their material compliance. Their widespread adoption is, however, hindered by the difficulty in designing them. This thesis explores the development of a hierarchical design framework for soft pneumatic actuators by leveraging designer intuition and computational tools. The framework integrates finite element analysis, meta-modelling, optimisation, and parallel computing techniques to efficiently design soft pneumatic actuators. By dividing the design process into distinct hierarchical levels, the framework simplifies the complexities associated with soft robot design. In demonstrating the framework's effectiveness, two case studies are presented. The design of a bending actuator and the design of asymmetrical motion actuators. These studies not only validate the framework but also showcase its versatility and adaptability in creating diverse actuator designs. In both design case studies, good-performing actuators are designed through the framework. Further emphasising the framework's capabilities is the use of meta-models, such as radial basis functions and neural networks, which significantly enhance the design process. These meta-models, developed through various strategies, demonstrate the potential for reusability and the efficient leveraging of finite element analyses which is otherwise computationally prohibitive. AFRIKAANSE OPSOMMING: Sagte pneumatiese aktueerders het potensiaal in gevorderde robotika toepassings weens hul veelsydigheid as gevolg van materiaalbuigsaamheid. Die breë gebruik van die tegnologie word egter belemmer deur die moeilikheidsgraad van die ontwerp. Hierdie tesis ondersoek die ontwikkeling van 'n hië-rargiese ontwerpsraamwerk vir sagte pneumatiese aktueerders deur gebruik te maak van ontwerper-intuïsie en rekenaarhulpmiddels. Die raamwerk integreer eindige-element analise, meta-modellering, optimering, en parallelle rekenaartegnieke om sodoende sagte pneumatiese aktueerders doeltre end te ontwerp. Die kompleksiteite wat met sagte robotontwerp gepaard gaan, word vereenvoudig deur 'n raamwerk wat die ontwerpsproses in afsonderlike hiërargiese vlakke verdeel. Om die raamwerk se doeltre endheid te demonstreer, lê die tesis twee gevallestudies voor: die ontwerp van 'n buigende aktueerder en die ontwerp van asimmetriese bewegingsaktueerders. Hierdie studies bevestig nie net dat die raamwerk doeltre end is nie, maar stel die veelsydigheid en aanpasbaarheid in die skep van diverse ontwerpe ten toon. In beide ontwerpsgevallestudies word goed-presterende aktueerders deur die raamwerk ontwerp. Verder word die raamwerk se vermoëns deur die gebruik van meta-modelle, soos radiale basisfunksies en neurale netwerke, wat die ontwerpproses aansienlik verbeter, beklemtoon. Hierdie meta-modelle, wat deur verskeie strategiee ontwikkel word, demonstreer die potensiaal vir herbruikbaarheid en die doel- treffende benutting van eindige-element analises wat andersins deur rekenaar vermoëns beperk sou word. Masters 2024-02-26T12:22:02Z 2024-04-26T17:30:24Z 2024-02-26T12:22:02Z 2024-04-26T17:30:24Z 2024-02 Thesis https://scholar.sun.ac.za/handle/10019.1/130435 en_ZA en_ZA Stellenbosch University xii, 94 pages : illustrations. application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Finite element method Actuators Pneumatic control UCTD Ligthart, Philip Frederik A framework for the design of soft pneumatic actuators using computational tools. |
| title | A framework for the design of soft pneumatic actuators using computational tools. |
| title_full | A framework for the design of soft pneumatic actuators using computational tools. |
| title_fullStr | A framework for the design of soft pneumatic actuators using computational tools. |
| title_full_unstemmed | A framework for the design of soft pneumatic actuators using computational tools. |
| title_short | A framework for the design of soft pneumatic actuators using computational tools. |
| title_sort | framework for the design of soft pneumatic actuators using computational tools |
| topic | Finite element method Actuators Pneumatic control UCTD |
| url | https://scholar.sun.ac.za/handle/10019.1/130435 |
| work_keys_str_mv | AT ligthartphilipfrederik aframeworkforthedesignofsoftpneumaticactuatorsusingcomputationaltools AT ligthartphilipfrederik frameworkforthedesignofsoftpneumaticactuatorsusingcomputationaltools |