TY - JOUR
T1 - An efficient technique in dynamic modeling and analysis of soft fluidic actuator
AU - Bamdad, Mahdi
AU - Karimi, Ahmad
N1 - Publisher Copyright:
© 2023 Taylor & Francis Group, LLC.
PY - 2023/5/27
Y1 - 2023/5/27
N2 - Soft actuators with embedded fluidic channels are promising for soft robotics, but their continuous nature presents challenges in accurate and efficient modeling. Existing studies on dynamic behavior have shown that both approximate and exact methods have limitations in accurately predicting the deflection of soft actuators. Additionally, conventional methods require experimental parameter extraction for each individual actuator. To address these challenges, we propose a modified analytical method and use finite element analysis as the defined correction functions to improve accuracy and computational efficiency, providing a promising tool for the design and control of soft robotic systems. In this work, we propose a solution methodology for simulating the dynamic behavior of fluidic soft actuators, which are widely used in soft robotics applications. Our approach takes into account the cross-sectional geometry and the number of channels in the actuator’s configuration. By scrutinizing various fluidic actuation designs, we can deduce the most suitable cross-sectional configuration for optimal performance. Compared to existing analytical methods, our approach is more accurate and does not require additional calculation time. As the method is adaptable with experimental models, it can be used to design and optimize soft actuators while can be refined and improved through experimental model updating.
AB - Soft actuators with embedded fluidic channels are promising for soft robotics, but their continuous nature presents challenges in accurate and efficient modeling. Existing studies on dynamic behavior have shown that both approximate and exact methods have limitations in accurately predicting the deflection of soft actuators. Additionally, conventional methods require experimental parameter extraction for each individual actuator. To address these challenges, we propose a modified analytical method and use finite element analysis as the defined correction functions to improve accuracy and computational efficiency, providing a promising tool for the design and control of soft robotic systems. In this work, we propose a solution methodology for simulating the dynamic behavior of fluidic soft actuators, which are widely used in soft robotics applications. Our approach takes into account the cross-sectional geometry and the number of channels in the actuator’s configuration. By scrutinizing various fluidic actuation designs, we can deduce the most suitable cross-sectional configuration for optimal performance. Compared to existing analytical methods, our approach is more accurate and does not require additional calculation time. As the method is adaptable with experimental models, it can be used to design and optimize soft actuators while can be refined and improved through experimental model updating.
KW - approximate analytical solution
KW - finite element method
KW - fluidic actuation
KW - fluid–structure interaction
KW - large deformation
KW - Soft actuator
UR - http://www.scopus.com/inward/record.url?scp=85160928038&partnerID=8YFLogxK
U2 - 10.1080/15397734.2023.2213311
DO - 10.1080/15397734.2023.2213311
M3 - Journal article
AN - SCOPUS:85160928038
SN - 1539-7734
JO - Mechanics Based Design of Structures and Machines
JF - Mechanics Based Design of Structures and Machines
ER -