Forward Kinematics Based Prediction for Bending Motion of Soft Pneumatic Actuators with Various Air Chambers
This study proposes a forward kinematic model for soft actuators that utilize pneumatic control to predict their bending motion, which is simulated using Ansys software. Firstly, a bending motion test is conducted with a 2-air chamber actuator to derive an equation that establishes the relationship...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Taiwan Association of Engineering and Technology Innovation
2023-04-01
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| Series: | Proceedings of Engineering and Technology Innovation |
| Subjects: | |
| Online Access: | https://ojs.imeti.org/index.php/PETI/article/view/10536 |
| _version_ | 1797808552868315136 |
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| author | Do Phuoc Thien Le Hoai Phuong |
| author_facet | Do Phuoc Thien Le Hoai Phuong |
| author_sort | Do Phuoc Thien |
| collection | DOAJ |
| description |
This study proposes a forward kinematic model for soft actuators that utilize pneumatic control to predict their bending motion, which is simulated using Ansys software. Firstly, a bending motion test is conducted with a 2-air chamber actuator to derive an equation that establishes the relationship between the bending angle and input pressure. Next, a serial model for the overall soft actuator is developed using forward kinematics with the DH method. The angle variables in the soft actuator are then replaced with an equation that relates the deformed angle and compressed air. Finally, the proposed serial model is used to predict the bending motion of 4-air and 6-air chamber actuators, and the results are compared to simulations and real experiments. The comparison shows that the proposed model could accurately predict the bending motion of the real actuators within an acceptable tolerance of 10%.
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| first_indexed | 2024-03-13T06:39:15Z |
| format | Article |
| id | doaj.art-904ece34e9b84d698882285f3bf57fc6 |
| institution | Directory Open Access Journal |
| issn | 2413-7146 2518-833X |
| language | English |
| last_indexed | 2024-03-13T06:39:15Z |
| publishDate | 2023-04-01 |
| publisher | Taiwan Association of Engineering and Technology Innovation |
| record_format | Article |
| series | Proceedings of Engineering and Technology Innovation |
| spelling | doaj.art-904ece34e9b84d698882285f3bf57fc62023-06-08T18:28:36ZengTaiwan Association of Engineering and Technology InnovationProceedings of Engineering and Technology Innovation2413-71462518-833X2023-04-012410.46604/peti.2023.10536Forward Kinematics Based Prediction for Bending Motion of Soft Pneumatic Actuators with Various Air ChambersDo Phuoc Thien0Le Hoai Phuong1Industrial Maintenance Training Center, Ho Chi Minh City University of Technology, Ho Chi Minh City, Vietnam; Vietnam National University Ho Chi Minh City, Ho Chi Minh City, VietnamIndustrial Maintenance Training Center, Ho Chi Minh City University of Technology, Ho Chi Minh City, Vietnam; Vietnam National University Ho Chi Minh City, Ho Chi Minh City, Vietnam This study proposes a forward kinematic model for soft actuators that utilize pneumatic control to predict their bending motion, which is simulated using Ansys software. Firstly, a bending motion test is conducted with a 2-air chamber actuator to derive an equation that establishes the relationship between the bending angle and input pressure. Next, a serial model for the overall soft actuator is developed using forward kinematics with the DH method. The angle variables in the soft actuator are then replaced with an equation that relates the deformed angle and compressed air. Finally, the proposed serial model is used to predict the bending motion of 4-air and 6-air chamber actuators, and the results are compared to simulations and real experiments. The comparison shows that the proposed model could accurately predict the bending motion of the real actuators within an acceptable tolerance of 10%. https://ojs.imeti.org/index.php/PETI/article/view/10536soft roboticpneumatic actuatorforward kinematicsflexible fingerDH parameter |
| spellingShingle | Do Phuoc Thien Le Hoai Phuong Forward Kinematics Based Prediction for Bending Motion of Soft Pneumatic Actuators with Various Air Chambers Proceedings of Engineering and Technology Innovation soft robotic pneumatic actuator forward kinematics flexible finger DH parameter |
| title | Forward Kinematics Based Prediction for Bending Motion of Soft Pneumatic Actuators with Various Air Chambers |
| title_full | Forward Kinematics Based Prediction for Bending Motion of Soft Pneumatic Actuators with Various Air Chambers |
| title_fullStr | Forward Kinematics Based Prediction for Bending Motion of Soft Pneumatic Actuators with Various Air Chambers |
| title_full_unstemmed | Forward Kinematics Based Prediction for Bending Motion of Soft Pneumatic Actuators with Various Air Chambers |
| title_short | Forward Kinematics Based Prediction for Bending Motion of Soft Pneumatic Actuators with Various Air Chambers |
| title_sort | forward kinematics based prediction for bending motion of soft pneumatic actuators with various air chambers |
| topic | soft robotic pneumatic actuator forward kinematics flexible finger DH parameter |
| url | https://ojs.imeti.org/index.php/PETI/article/view/10536 |
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