Details
| Original language | English |
|---|---|
| Title of host publication | 2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering |
| Subtitle of host publication | ICECCME |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (electronic) | 9781665470957 |
| ISBN (print) | 978-1-6654-7096-4 |
| Publication status | Published - 2022 |
| Event | 2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering - Male, Maldives Duration: 16 Nov 2022 → 18 Nov 2022 |
Abstract
Soft material robotic systems are a comparably new field of research. In contrast to classical robots, soft material robotic systems (SMRS) are characterized by their low stiffness. This gives them a high degree of flexibility and compliance. The associated inherent safety makes them a promising technology for applications which require human-machine interaction or a high level of adaptability. Still there exists no generic methodology for modeling and control of these systems. One approach is to use the sophisticated Finite Element Method (FEM) or classical beam models. This paper deals with the modeling of fiber reinforced soft pneumatic actuators (SPAs). We present an approach to convert the input pressure to equivalent forces and to implement them into a Cosserat rod model. FE analyses provide a high level of detail, thus, they indicate a strong influence of compression effects on the chamber wall. We consider the forces resulting from this lateral compression when setting up a Cosserat rod model. Identification of the rod's parameters and subsequent validation against FE simulations show good accordance up to a certain pressure limit. The influence of geometrical features on the compression effect is demonstrated and quantified by a compression factor α.
Keywords
- Cosserat rod model, finite element model, identification, soft pneumatic actuator
ASJC Scopus subject areas
- Engineering(all)
- Automotive Engineering
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Computer Networks and Communications
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Hardware and Architecture
- Energy(all)
- Renewable Energy, Sustainability and the Environment
Sustainable Development Goals
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2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering: ICECCME. Institute of Electrical and Electronics Engineers Inc., 2022.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Investigation of Lateral Compression Effects in Fiber Reinforced Soft Pneumatic Actuators
AU - Berthold, Rebecca
AU - Wiese, Mats
AU - Raatz, Annika
N1 - Funding Information: Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation)∗ under grant no. 405032969. Both authors contributed euqally to this work.
PY - 2022
Y1 - 2022
N2 - Soft material robotic systems are a comparably new field of research. In contrast to classical robots, soft material robotic systems (SMRS) are characterized by their low stiffness. This gives them a high degree of flexibility and compliance. The associated inherent safety makes them a promising technology for applications which require human-machine interaction or a high level of adaptability. Still there exists no generic methodology for modeling and control of these systems. One approach is to use the sophisticated Finite Element Method (FEM) or classical beam models. This paper deals with the modeling of fiber reinforced soft pneumatic actuators (SPAs). We present an approach to convert the input pressure to equivalent forces and to implement them into a Cosserat rod model. FE analyses provide a high level of detail, thus, they indicate a strong influence of compression effects on the chamber wall. We consider the forces resulting from this lateral compression when setting up a Cosserat rod model. Identification of the rod's parameters and subsequent validation against FE simulations show good accordance up to a certain pressure limit. The influence of geometrical features on the compression effect is demonstrated and quantified by a compression factor α.
AB - Soft material robotic systems are a comparably new field of research. In contrast to classical robots, soft material robotic systems (SMRS) are characterized by their low stiffness. This gives them a high degree of flexibility and compliance. The associated inherent safety makes them a promising technology for applications which require human-machine interaction or a high level of adaptability. Still there exists no generic methodology for modeling and control of these systems. One approach is to use the sophisticated Finite Element Method (FEM) or classical beam models. This paper deals with the modeling of fiber reinforced soft pneumatic actuators (SPAs). We present an approach to convert the input pressure to equivalent forces and to implement them into a Cosserat rod model. FE analyses provide a high level of detail, thus, they indicate a strong influence of compression effects on the chamber wall. We consider the forces resulting from this lateral compression when setting up a Cosserat rod model. Identification of the rod's parameters and subsequent validation against FE simulations show good accordance up to a certain pressure limit. The influence of geometrical features on the compression effect is demonstrated and quantified by a compression factor α.
KW - Cosserat rod model
KW - finite element model
KW - identification
KW - soft pneumatic actuator
UR - http://www.scopus.com/inward/record.url?scp=85146423800&partnerID=8YFLogxK
U2 - 10.1109/ICECCME55909.2022.9988565
DO - 10.1109/ICECCME55909.2022.9988565
M3 - Conference contribution
AN - SCOPUS:85146423800
SN - 978-1-6654-7096-4
BT - 2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering
Y2 - 16 November 2022 through 18 November 2022
ER -