Details
| Original language | English |
|---|---|
| Pages (from-to) | 2471-2478 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 7 |
| Issue number | 2 |
| Publication status | Published - 25 Jan 2022 |
Abstract
Keywords
- Numerical models, Pneumatic actuators, Pneumatic systems, Predictive models, Robots, Strain, Stress
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Biomedical Engineering
- Computer Science(all)
- Human-Computer Interaction
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
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In: IEEE Robotics and Automation Letters, Vol. 7, No. 2, 25.01.2022, p. 2471-2478.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Soft Pneumatic Actuator Model Based on a Pressure-Dependent Spatial Nonlinear Rod Theory
AU - Eugster, Simon
AU - Harsch, Jonas
AU - Bartholdt, Max Niklas
AU - Herrmann, Marco
AU - Wiese, Mats
AU - Capobianco, Giuseppe
PY - 2022/1/25
Y1 - 2022/1/25
N2 - To describe the mechanical behavior of a soft pneumatic actuator, we present a nonlinear rod theory, which recognizes the chamber pressurization as contribution to the resultant contact forces and couples. Accordingly, the pressure actuation can be considered as part of the rod’s constitutive laws, which relate the contact interactions with the rod’s kinematics and the chamber pressures. The theory allows for nonlinear constitutive laws, which are capable of describing strengthening or softening behavior of largely deformable materials. The theory was applied to a three-chamber actuator to predict its centerline as well as the cross-section orientations in static equilibrium. The resulting governing equations were spatially discretized using beam finite elements. We evaluated four different actuator models that are contained in the presented theory regarding describability and predictability of the end effector position. Existing rod models with linear elastic material laws can describe the tip-displacement with an averaged deviation of 9.1 mm in the training set and 11.4 mm in the test set. With a deviation of 2.8 mm and 4.9 mm in the training and test set, respectively, the most enhanced model, for which the pressure chamber radii increase with increasing pressure, is more than 2 times more accurate.
AB - To describe the mechanical behavior of a soft pneumatic actuator, we present a nonlinear rod theory, which recognizes the chamber pressurization as contribution to the resultant contact forces and couples. Accordingly, the pressure actuation can be considered as part of the rod’s constitutive laws, which relate the contact interactions with the rod’s kinematics and the chamber pressures. The theory allows for nonlinear constitutive laws, which are capable of describing strengthening or softening behavior of largely deformable materials. The theory was applied to a three-chamber actuator to predict its centerline as well as the cross-section orientations in static equilibrium. The resulting governing equations were spatially discretized using beam finite elements. We evaluated four different actuator models that are contained in the presented theory regarding describability and predictability of the end effector position. Existing rod models with linear elastic material laws can describe the tip-displacement with an averaged deviation of 9.1 mm in the training set and 11.4 mm in the test set. With a deviation of 2.8 mm and 4.9 mm in the training and test set, respectively, the most enhanced model, for which the pressure chamber radii increase with increasing pressure, is more than 2 times more accurate.
KW - Numerical models
KW - Pneumatic actuators
KW - Pneumatic systems
KW - Predictive models
KW - Robots
KW - Strain
KW - Stress
UR - http://www.scopus.com/inward/record.url?scp=85123731202&partnerID=8YFLogxK
U2 - 10.1109/lra.2022.3144788
DO - 10.1109/lra.2022.3144788
M3 - Article
VL - 7
SP - 2471
EP - 2478
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 2
ER -