Modelling the nonlinear response of fibre-reinforced bending fluidic actuators
Modelling the nonlinear response of fibre-reinforced bending fluidic actuators
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DOI：
10.1088/0964-1726/25/10/105020
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发表时间：
2016-10-01
影响因子：
4.1
通讯作者：
Cianchetti, Matteo
中科院分区：
文献类型：
--
作者：
Cacucciolo, Vito;Renda, Federico;Cianchetti, Matteo
软执行器越来越受到工程界的关注，不仅在研究领域，甚至在工业应用领域。在软执行器中，纤维增强弯曲流体执行器 (BFA) 因其坚固性以及易于设计和制造等特点而变得非常受欢迎。然而，考虑到所涉及的所有非线性因素，对这些智能结构进行精确建模是一项具有挑战性的任务。在这项工作中，我们提出了一种分析力学模型来捕获纤维增强 BFA 的准静态响应。该模型是完全 3D 的，并且首次包含压力对腔室侧面的影响以及尖端压力产生的非恒定扭矩。所提出的模型可用于设计和控制，同时提供有关这些复杂执行器的机械结构的信息。
Soft actuators are receiving increasing attention from the engineering community, not only in research but even for industrial applications. Among soft actuators, fibre-reinforced bending fluidic actuators (BFAs) became very popular thanks to features such as robustness and easy design and fabrication. However, an accurate modelling of these smart structures, taking into account all the nonlinearities involved, is a challenging task. In this effort, we propose an analytical mechanical model to capture the quasi-static response of fibre-reinforced BFAs. The model is fully 3D and for the first time includes the effect of the pressure on the lateral surface of the chamber as well as the non-constant torque produced by the pressure at the tip. The presented model can be used for design and control, while providing information about the mechanics of these complex actuators.