ANCF-based dynamic modeling of variable curvature soft pneumatic actuators with experimental verifications
Yu Rong,
Guoying Gu
Abstract:Accurate and computationally efficient models of soft pneumatic actuators are crucial for utilizing their compliance in various fields. However, existing research primarily relies on the piecewise constant curvature (PCC) assumption or the quasi-static assumption, only valid in limited situations. In this paper, we present a dynamic model based on absolute nodal coordinate formulation (ANCF) that simultaneously accounts for variable curvature deformation and dynamic properties. To this end, deformed configurations… Show more
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