Static Modeling of Soft Reinforced Bending Actuator Considering External Force Constraints

Ghalati, Mohammad Hadi Namdar; Ghafarirad, Hamed; Suratgar, Amir Abolfazl; Zareinejad, Mohammad; Ahmadi-Pajouh, Mohammad Ali

doi:10.1089/soro.2021.0010

Cited by 11 publications

(9 citation statements)

References 31 publications

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“…This nonlinearity is caused by the instinct nonlinear behavior of the utilized material, i.e., silicon rubber. Indeed, the energy-based modeling, presented in Section 3, experimental data, and the model described in [23] validate this assumption. However, this nonlinearity depends on many parameters such as material shore, the ratio of hardener, the curing procedure, etc.…”

Section: Table 1 Dh Parameters For the Actuatormentioning

confidence: 56%

“…They calculated the effect of external loads on the beam profile using the Euler-Bernoulli beam theory [22]. Namdar et al developed the previous method and investigated the configuration of a soft fiberreinforced bending actuator under the effect of different types of concentrated forces and inlet pressure [23]. However, none of the above-mentioned research takes the contact situation and positional constraints into account.…”

Section: Introductionmentioning

confidence: 99%

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Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment

Ghalati¹,

Ghafarirad²

2023

Comptes Rendus. Mécanique

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Soft bending actuators show high adaptability for applications such as rehabilitation or grasping. Although constant curvature assumption has been extensively used for free motion modeling, these actuators do not bend circularly when interacting with the environment. In such situation, conventional bending sensors cannot provide useful information on their shape. In this paper, the Finite Rigid Elements approach is utilized to model the behavior of a soft pneumatic bending actuator in free motion and contact. With this method, the variable curvature configuration under different external loads can be modeled. Then, the contact force between the actuator and an object located in a specific position is estimated utilizing the Gradient Descent optimization method. Experimental results verified the combinatorial proposed approach for both force estimation and structure deformation.

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Section: Table 1 Dh Parameters For the Actuatormentioning

confidence: 56%

Section: Introductionmentioning

confidence: 99%

Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment

Ghalati¹,

Ghafarirad²

2023

Comptes Rendus. Mécanique

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“…For the first condition, shown in Figure 3, we can use the following Euler-Bernoulli beam equation [33][34][35][36]:…”

Section: Derivation Of Euler-bernoulli Beam Modelmentioning

confidence: 99%

“…For the first condition, shown in Figure 3 , we can use the following Euler–Bernoulli beam equation [ 33 , 34 , 35 , 36 ]:

where E is the beam elastic modulus, and I is the beam moment of inertia.…”

Section: Derivation Of Soft Arm Modelmentioning

confidence: 99%

Model Analysis of Robotic Soft Arms including External Force Effects

2022

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Because robotic soft arms have a high power-to-weight ratio, low cost, and ease of manufacturability, increasing numbers of researchers have begun to focus on their characteristics in recent years. However, many urgent problems remain to be resolved. For example, soft arms are made of hyperelastic material, making it difficult to obtain accurate model predictions of the soft arm shape. This paper proposes a new modeling method for soft arms, combining the constant curvature model with Euler–Bernoulli beam theory. By combining these two modeling methods, we can quickly solve for the soft arm deformation under the action of an external force. This paper also presents an experimental platform based on a cable-driven soft arm to verify the validity of the proposed model. We carried out model verification experiments to test for different external effects. Experimental results show that the maximum error of our proposed soft arm deformation model is between 2.86% and 8.75%, demonstrating its effectiveness.

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“…2 Soft robots, unlike their rigid counterparts, provide much more flexibility and safety. 3 They can perform more complex actions, such as bending, 4 elongation, 5 and twisting. 6 Moreover, soft robots have greater conformity with the environment and the behavior of the human body and provide much greater freedom of action compared to traditional rigid robots.…”

Section: Introductionmentioning

confidence: 99%

Configuration detection and external force tuning for soft-bending actuators under position constraint

Karimpour

Ghalati

Ghafarirad

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Nowadays, soft actuator development has become a big trend due to higher safety and more complex movements. One of the most interesting types of these actuators is called the “soft fiber-reinforced bending actuator,” which has been chosen for investigation in this study. The aim is to provide a codified model to investigate the static behavior and deformation of the actuator in both free and positional constrained conditions. Indeed, modeling of these actuators in the presence of external factors and constraints is significantly challenging due to distortion of conventional constant curvature assumptions applied in free motion. In this paper, hyper-elastic theories have been utilized to model the free motion behavior of a soft-bending actuator made from elastomeric materials. Then, the Euler–Bernoulli beam theory for bending deformation is used to investigate the effect of positional constraints on the actuator’s deformation. In addition, an optimization method is utilized to estimate the required internal pressure, which in turn tunes the contact force between the actuator tip and desired objects/obstacles. The experimental results are presented to validate the proposed theories in both free and constrained conditions. In this regard, first, the actuator’s behavior in free motion is properly investigated and proven valid. Then, the effects of positional constraints on the actuator and their contact force tuning are analyzed.

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Static Modeling of Soft Reinforced Bending Actuator Considering External Force Constraints

Cited by 11 publications

References 31 publications

Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment

Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment

Model Analysis of Robotic Soft Arms including External Force Effects

Configuration detection and external force tuning for soft-bending actuators under position constraint

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