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Behavior Analysis of Biomimetic Soft Bending Actuators in Free Motion and Contact
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作者 Mohammad Hadi Namdar Ghalati Sepideh Akbari +1 位作者 hamed ghafarirad Mohammad Zareinejad 《Journal of Bionic Engineering》 SCIE EI CSCD 2023年第3期967-981,共15页
Bioinspired Soft Bending Actuators (SBA) are increasingly being used in rehabilitation, assistant robots, and grippers. Despite many investigations on free motion modeling, understanding how these actuators interact w... Bioinspired Soft Bending Actuators (SBA) are increasingly being used in rehabilitation, assistant robots, and grippers. Despite many investigations on free motion modeling, understanding how these actuators interact with the environment requires more detailed research. It is caused by high compliance and nonlinearity of bioinspired soft material, which leads to serious challenges in contact conditions. In this paper, a continuous deformation analysis is presented to describe the free motion nonlinear behavior of the actuator. Based on the achieved result, this study proposes static modeling of SBA affected by a concentrated external force. For this purpose, the finite rigid element method is utilized, which is based on discretizing the actuator into smaller parts and assuming these parts as rigid serial links connected by nonlinear torsional springs. To verify the proposed model, two kinds of forces are considered to be acting on the actuator, i.e. following force and constant direction force. In addition, the effect of gravity on the actuator configuration is also investigated. The validity of the model has been demonstrated through experiments in free motion, contact conditions and the presence of gravity. It generally shows that the prediction error of robot configuration is lower than 7.5%. 展开更多
关键词 Biomimetic soft bending actuator Static modeling CONTACT Force constraints Rigid finite element
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