Driving torque model of the bionic soft arm’s hyperelastic bellows
ABSTRACTThe technology of soft continuum robots represents an advance in the field of robotics to benefit a wide range of industries such as healthcare, manufacturing or environmental exploration. Soft continuum robots can be driven pneumatically by bellows as the soft continuum manipulator presente...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2024-12-01
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| Series: | Mathematical and Computer Modelling of Dynamical Systems |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/13873954.2024.2315290 |
| _version_ | 1797303834174816256 |
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| author | Samuel Pilch Daniel Klug Oliver Sawodny |
| author_facet | Samuel Pilch Daniel Klug Oliver Sawodny |
| author_sort | Samuel Pilch |
| collection | DOAJ |
| description | ABSTRACTThe technology of soft continuum robots represents an advance in the field of robotics to benefit a wide range of industries such as healthcare, manufacturing or environmental exploration. Soft continuum robots can be driven pneumatically by bellows as the soft continuum manipulator presented in this article. A driving torque model of the bellows considering hyperelastic material properties, friction and restoring torques is derived, whose purpose is suitability for model-based control design and subsequent trajectory generation. Hence, the driving torque model must be real-time capable. This is realized by an iterative algorithm calculating the bellows’ torque transmission by assuming a two-dimensional no-slip membrane contact. Nonlinear strain behaviours and hysteresis effects of the bellows are considered by the Ogden material model. The driving torque model’s performance is validated experimentally by measuring the external torques of the bellows. |
| first_indexed | 2024-03-07T23:59:19Z |
| format | Article |
| id | doaj.art-e8c1542435a94fc490cefce66f4413e6 |
| institution | Directory Open Access Journal |
| issn | 1387-3954 1744-5051 |
| language | English |
| last_indexed | 2024-03-07T23:59:19Z |
| publishDate | 2024-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Mathematical and Computer Modelling of Dynamical Systems |
| spelling | doaj.art-e8c1542435a94fc490cefce66f4413e62024-02-18T08:03:38ZengTaylor & Francis GroupMathematical and Computer Modelling of Dynamical Systems1387-39541744-50512024-12-013019111410.1080/13873954.2024.2315290Driving torque model of the bionic soft arm’s hyperelastic bellowsSamuel Pilch0Daniel Klug1Oliver Sawodny2Institute for System Dynamics, University of Stuttgart, Stuttgart, GermanyInstitute for System Dynamics, University of Stuttgart, Stuttgart, GermanyInstitute for System Dynamics, University of Stuttgart, Stuttgart, GermanyABSTRACTThe technology of soft continuum robots represents an advance in the field of robotics to benefit a wide range of industries such as healthcare, manufacturing or environmental exploration. Soft continuum robots can be driven pneumatically by bellows as the soft continuum manipulator presented in this article. A driving torque model of the bellows considering hyperelastic material properties, friction and restoring torques is derived, whose purpose is suitability for model-based control design and subsequent trajectory generation. Hence, the driving torque model must be real-time capable. This is realized by an iterative algorithm calculating the bellows’ torque transmission by assuming a two-dimensional no-slip membrane contact. Nonlinear strain behaviours and hysteresis effects of the bellows are considered by the Ogden material model. The driving torque model’s performance is validated experimentally by measuring the external torques of the bellows.https://www.tandfonline.com/doi/10.1080/13873954.2024.2315290Soft roboticshyperelastic bellowsdynamic actuator model |
| spellingShingle | Samuel Pilch Daniel Klug Oliver Sawodny Driving torque model of the bionic soft arm’s hyperelastic bellows Mathematical and Computer Modelling of Dynamical Systems Soft robotics hyperelastic bellows dynamic actuator model |
| title | Driving torque model of the bionic soft arm’s hyperelastic bellows |
| title_full | Driving torque model of the bionic soft arm’s hyperelastic bellows |
| title_fullStr | Driving torque model of the bionic soft arm’s hyperelastic bellows |
| title_full_unstemmed | Driving torque model of the bionic soft arm’s hyperelastic bellows |
| title_short | Driving torque model of the bionic soft arm’s hyperelastic bellows |
| title_sort | driving torque model of the bionic soft arm s hyperelastic bellows |
| topic | Soft robotics hyperelastic bellows dynamic actuator model |
| url | https://www.tandfonline.com/doi/10.1080/13873954.2024.2315290 |
| work_keys_str_mv | AT samuelpilch drivingtorquemodelofthebionicsoftarmshyperelasticbellows AT danielklug drivingtorquemodelofthebionicsoftarmshyperelasticbellows AT oliversawodny drivingtorquemodelofthebionicsoftarmshyperelasticbellows |