Browsing by Author "Ligthart, Philip Frederik"

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    A framework for the design of soft pneumatic actuators using computational tools.
    (Stellenbosch : Stellenbosch University, 2024-02) Ligthart, Philip Frederik; Venter, MP; Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering.
    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.