Modeling of a Soft Actuator With a Semicircular Cross Section Under Gravity and External Load

Shengkai Liu, Jian Jiao*, Fei Meng, Tao Mei*, Xiaoyu Sun, Wenchao Kong

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

2 引用 (Scopus)

摘要

Compared to rigid robotic actuators, soft actuators based on fiber-reinforced elastomeric actuators have great potential for use in exploring complex terrain, medical operations, and flexible capture of targets. However, it is still challenging to model the mechanical behavior of soft actuators because of the large deformation and nonlinear characteristics of elastic materials. This article proposes an analytical model to predict the shape of a soft actuator to better describe the relationship between its deformation and input pressure, gravity, and other external forces. We first derive the relationship between soft actuator deformation and pressure using volume maximization and the principle of virtual work. We further use Euler-Bernoulli beam theory to investigate the influence of self-gravity and external forces on the soft actuator configuration. The model is verified by fabricating a soft actuator prototype via mold casting. Finally, we perform a series of experiments to evaluate the accuracy of our proposed model. The longest total time to solve the model is 0.035 s. Experimental results show that the model's maximum error rate is between 2.89% and 9.75%. This indicates that the model can effectively predicts the deformation of soft actuators considering gravity and other external forces.

源语言英语
页(从-至)4952-4961
页数10
期刊IEEE Transactions on Industrial Electronics
70
5
DOI
出版状态已出版 - 1 5月 2023

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Liu, S., Jiao, J., Meng, F., Mei, T., Sun, X., & Kong, W. (2023). Modeling of a Soft Actuator With a Semicircular Cross Section Under Gravity and External Load. IEEE Transactions on Industrial Electronics, 70(5), 4952-4961. https://doi.org/10.1109/TIE.2022.3183334