title: ÐÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ, Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð¸ÑÐ¿Ð¾Ð»Ð½Ð¸ÑÐµÐ»ÑÐ½ÑÐ¼Ð¸ ÑÐ»ÐµÐ¼ÐµÐ½ÑÐ°Ð¼Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ñ Ð¿Ð½ÐµÐ²Ð¼Ð¾-Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð¼
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Soft pneumatic actuator of robot-manipulator: design, simulation and control
Creators: name: Ð¢ÑÐ½ ÐÑÐ½ÑÑÐ½Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: ÐÐ¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
Ð¡Ð¸Ð»Ð¸ÐºÐ°Ð³ÐµÐ»Ñ
ÐÐ½ÐµÐ²Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¿ÑÐ¸Ð²Ð¾Ð´Ñ

description: ÐÐ·Ð²ÐµÑÑÐ½Ð¾, ÑÑÐ¾ Ð¿Ð¾ÑÐ»ÐµÐ´Ð½Ð¸Ðµ Ð³Ð¾Ð´Ñ Ð² Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾ÑÑÐ¸ ÑÐ¸ÑÐ¾ÐºÐ¾ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑÑÑÑ Ð¼ÑÐ³ÐºÐ¸Ðµ Ð¼ÐµÑÐ°Ð½Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¿ÑÐ¸Ð²Ð¾Ð´Ñ. Ð ÐºÐ°ÑÐµÑÑÐ²Ðµ Ð´Ð¸Ð¿Ð»Ð¾Ð¼Ð½Ð¾Ð³Ð¾ Ð¿ÑÐ¾ÐµÐºÑÐ° Ñ Ð¿ÑÐ¸Ð½ÑÐ» ÑÑÐ°ÑÑÐ¸Ðµ Ð² Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸ÑÑ Ð¿Ð¾ Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ, Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¼ÑÐ³ÐºÐ¸Ð¼Ð¸ Ð¼ÐµÑÐ°Ð½Ð¸ÑÐµÑÐºÐ¸Ð¼Ð¸ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð°Ð¼Ð¸. Ð ÑÑÐ¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ Ð¾Ð¿Ð¸ÑÑÐ²Ð°ÐµÑÑÑ Ð¿ÑÐ¾ÑÐµÑÑ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð¸Ñ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¸ Ð¸ Ð·Ð½Ð°Ð½Ð¸Ð¹ Ð¾ ÑÐ¾Ð¼, ÐºÐ°Ðº ÑÐ»ÑÑÑÐ°ÑÑ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¼ÐµÑÐ°Ð½Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¼ÑÐ³ÐºÐ¸Ðµ Ð¿ÑÐ¸Ð²Ð¾Ð´Ñ Ð² Ð»Ð°Ð±Ð¾ÑÐ°ÑÐ¾ÑÐ¸Ð¸ Ð¸ Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð½Ð¾Ð²Ð¾Ð³Ð¾ ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾Ð³Ð¾ Ð¿ÑÐ¾ÑÐ¾ÑÐ¸Ð¿Ð°, Ð° ÑÐ°ÐºÐ¶Ðµ Ð±Ð¾Ð»ÐµÐµ Ð¿Ð¾Ð·Ð´Ð½Ð¸Ñ Ð´ÐµÑÐ°Ð»ÐµÐ¹ Ð¿ÑÐ¾ÑÐµÑÑÐ° Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¸ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ð¸. Ð¢ÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ðµ ÑÑÐµÐ±Ð¾Ð²Ð°Ð½Ð¸Ñ Ðº ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð¼Ñ Ð¼ÑÐ³ÐºÐ¾Ð¼Ñ Ð°ÐºÑÑÐ°ÑÐ¾ÑÑ ÑÑÐµÐ±ÑÑÑ, ÑÑÐ¾Ð±Ñ Ð¾Ð½ Ð¼Ð¾Ð³ Ð¸Ð·Ð³Ð¸Ð±Ð°ÑÑÑÑ Ð² ÑÑÐµÑÐ¼ÐµÑÐ½Ð¾Ð¼ Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ Ñ Ð²ÑÑÐ¾ÐºÐ¸Ð¼Ð¸ ÑÑÐµÐ¿ÐµÐ½ÑÐ¼Ð¸ Ð³Ð¸Ð±ÐºÐ¾ÑÑÐ¸ Ð´Ð¾ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ, ÐºÐ¾ÑÐ¾ÑÐ¾Ðµ Ð¼Ñ ÑÐ¾ÑÐ¸Ð¼, ÑÑÐ¾ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¸ÑÑÑ Ð² Ð´ÐµÐ¹ÑÑÐ²Ð¸Ðµ Ð²Ð¾Ð·Ð´ÑÑÐ¾Ð¼ Ð¿Ð¾Ð´ Ð²ÑÑÐ¾ÐºÐ¸Ð¼ Ð´Ð°Ð²Ð»ÐµÐ½Ð¸ÐµÐ¼. ÐÐ¾ÑÐ»Ðµ ÑÑÐ¾Ð³Ð¾ Ð²ÑÐ±Ð¸ÑÐ°ÐµÑÑÑ Ð¼ÑÐ³ÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð°, ÐºÐ¾ÑÐ¾ÑÐ°Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð¸ÑÑÐµÑÑÑ Ð² ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²Ð¸Ð¸ Ñ ÑÑÐµÐ±Ð¾Ð²Ð°Ð½Ð¸ÑÐ¼Ð¸. ÐÑ Ð²ÑÐ±ÑÐ°Ð»Ð¸ ÐµÐ³Ð¾ ÐºÐ¾Ð½ÐºÑÐµÑÐ½ÑÐ¹ ÑÐ¸Ð¿ Ð¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð»Ð¸ 3D-Ð¿ÑÐ¸Ð½ÑÐµÑ, ÐºÐ¾ÑÐ¾ÑÑÐ¹ Ð¼Ð¾Ð¶ÐµÑ Ð¿ÐµÑÐ°ÑÐ°ÑÑ ÑÐ¸Ð»Ð¸ÐºÐ°Ð³ÐµÐ»Ñ Ð´Ð»Ñ Ð¸Ð·Ð³Ð¾ÑÐ¾Ð²Ð»ÐµÐ½Ð¸Ñ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð°. ÐÐ°ÐºÐ¾Ð½ÐµÑ, Ð¼Ñ Ð½Ð°ÑÐ»Ð¸ Ð¿ÑÐ¾ÑÑÐ¾Ð¹ Ð¼ÐµÑÐ¾Ð´ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÑÐ¸Ð¼ Ð²ÑÐ±ÑÐ°Ð½Ð½ÑÐ¼ ÑÐ¸Ð¿Ð¾Ð¼ Ð¼ÑÐ³ÐºÐ¾Ð³Ð¾ Ð¿Ð½ÐµÐ²Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð°.
description: It is well known that soft mechanical actuators have been widely used in industry in recent years. As my graduate project, I have the honor to participate in the research on the design, simulation and control of soft mechanical actuators. This paper mainly describes process of getting inspiration from the improvement of existing mechanical soft actuators in the laboratory and designing a new efficient prototype, as well as the later modeling and simulation process details. The technical requirements of the designed soft actuator require it to be able to bend in the three-dimensional space with flexible degrees of freedom to the certain position we want which is powered by high pressure air. Afterwards, the soft actuator model is selected and optimized to meet the requirements. We chose the specific type of it and used a 3D printer which can print silica gel to produce the actuator. Finally we found a simple method to control this chosen type of pneumatic soft actuator as well.