Dynamic modelling and simulation analysis of a pneumatic toothed soft actuator

PDF(2597 KB)

Journal of Vibration and Shock ›› 2023, Vol. 42 ›› Issue (8) : 142-151.

SU Yiyi1，ZHANG Liwen1，XU Qiping2，LIU Jinyang1

Author information +

History +

Abstract

With regard to a kind of hyper-elastic pneumatic toothed soft actuator with planar bending deformation, a dynamic model of the two-dimensional multi-beam structure was established based on the nonlinear constitutive relationship and absolute nodal coordinate method (ANCF) considering the geometrical nonlinearity. The penalty method is used to model the soft contact problem between adjacent chambers, which considers multi-point contact and can avoid the mutual penetration between adjacent chambers, and can accurately simulate the variable topological process of adjacent chambers from no contact to full contact. Compared with the ANCF solid element model, the two-dimensional multi-beam model has lower computational cost, therefore it is more efficient. The precision of the proposed theoretical model was verified by pneumatic bending experiments and ABAQUS simulation. On this basis, the influence of the gravity on the configuration of soft actuator is studied, and the influence of the inflation rate and the final loading pressure on its dynamic response is analyzed.

Key words

Absolute node coordinate method / Pneumatic toothed soft actuator / Dynamic modelling / Soft contact / Material nonlinearity / Experimental verification

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

SU Yiyi1，ZHANG Liwen1，XU Qiping2，LIU Jinyang1. Dynamic modelling and simulation analysis of a pneumatic toothed soft actuator[J]. Journal of Vibration and Shock, 2023, 42(8): 142-151

References

[1] 徐丰羽, 孟凡昌, 范保杰, et al. 软体机器人驱动、建模与应用研究综述[J]. 南京邮电大学学报（自然科学版）, 2019, 39(3): 64-75.
XU Feng-yu, MENG Fan-chang, FAN Bao-jie, et al. Review of driving methods, modeling and application in soft robots[J]. Journal of Nanjing University of Posts and Telecommunications (Natural Science), 2019, 39(3): 64-75.
[2] POLYGERINOS P, WANG Z, OVERVELDE J T B, et al. Modeling of Soft Fiber-Reinforced Bending Actuators [J]. IEEE Transactions on Robotics, 2015, 31(3): 778-89.
[3] GU G, WANG D, GE L, et al. Analytical Modeling and Design of Generalized Pneu-Net Soft Actuators with Three-Dimensional Deformations [J]. Soft robotics, 2021, 8(4): 462-77.
[4] MARTINEZ R V, BRANCH J L, FISH C R, et al. Robotic tentacles with three-dimensional mobility based on flexible elastomers [J]. Advanced Materials, 2013, 25(2): 205-12.
[5] SHEPHERD R F, ILIEVSKI F, CHOI W, et al. Multigait soft robot [J]. Proceedings of the National Academy of Sciences of the United States of America, 2011, 108(51): 20400-3.
[6] ALICI G, CANTY T, MUTLU R, et al. Modeling and Experimental Evaluation of Bending Behavior of Soft Pneumatic Actuators Made of Discrete Actuation Chambers [J]. Soft Robotics, 2018, 5(1): 24-35.
[7] 王江北, 方晔阳, 童歆, et al. 多气囊仿生软体机器人设计及其运动特性分析[J]. 上海交通大学学报, 2018, 52(1): 20-5.
WANG Jiang-bei, FANG Ye-yang, TONG Xin, et al. Design and Locomotion Properties of a Multi-Airbag Bionic Soft Robot [J]. Journal of Shanghai Jiaotong University, 2018, 52(1): 20-5.
[8] CHEN Z, LIANG X, WU T, et al. Pneumatically Actuated Soft Robotic Arm for Adaptable Grasping [J]. Acta Mechanica Solida Sinica, 2018, 31(5): 608-22.
[9] WANG J, MIN J, FEI Y, et al. Study on nonlinear crawling locomotion of modular differential drive soft robot [J]. Nonlinear Dynamics, 2019, 97(2): 1107-23.
[10] WANG T, ZHANG Y, ZHU Y, et al. A computationally efficient dynamical model of fluidic soft actuators and its experimental verification [J]. Mechatronics (Oxford), 2019, 58: 1-8.
[11] ZHONG G, DOU W, ZHANG X, et al. Bending analysis and contact force modeling of soft pneumatic actuators with pleated structures [J]. International journal of mechanical sciences, 2021, 193: 106150.
[12] 闵剑, 刘朝雨, 王江北, et al. 模块化软体机器人多模式运动分析[J]. 西安交通大学学报, 2020, 54(3): 126-33.
MIN Jian, LIU Zhao-yu, WANG Jiang-bei, et al. Multi-Mode Motion Analysis of Modular Soft Robot [J]. Journal of Xi 'an Jiaotong University, 2020, 54(3): 126-33.
[13] DE PAYREBRUNE K M, O'REILLY O M. On constitutive relations for a rod-based model of a pneu-net bending actuator [J]. Extreme Mechanics Letters, 2016, 8: 38-46.
[14] SHABANA A A, ELDEEB A E. Motion and shape control of soft robots and materials [J]. Nonlinear Dynamics, 2021, 104(1): 165-89.
[15] 徐齐平, 刘锦阳. 多腔体气动软体致动器的建模与仿真[J]. 上海交通大学学报, 2020, 54(6): 551-61.
XU Qi-ping, LIU Jin-yang. Modeling and Simulation of Pneumatic Soft Actuator with Multiple Chambers[J]. Journal of Shanghai Jiaotong University, 2020, 54(6): 551-61.
[16] 陶羽玲, 赵春花, 鲍康文. 基于绝对节点坐标法的气动软体驱动器建模[J]. 农业装备与车辆工程, 2021, 59(9): 69-73,9.
TAO Yu-ling, ZHAO Chun-hua, BAO Kang-wen. Modeling of Pneumatic Soft Drive Based on Absolute Nodal Coordinate Method [J]. Agricultural Equipment & Vehicle Engineering, 2021, 59(9): 69-73,9.
[17] JINQIANG N, CHAOYANG T, YUXIANG L. Inchworm Inspired Pneumatic Soft Robot Based on Friction Hysteresis [J]. Journal of Robotics and Automation, 2017, 1(2).
[18] 徐齐平. 基于绝对节点坐标法的大变形软体结构动力学研究 [D]. 上海交通大学, 2020.
XU Qi-ping. Dynamic Invesrigation on Soft Structures with Large Deformation Based on Absolute Nodal Coordinate Formulation [D]. Shanghai Jiaotong University, 2020.