Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm
Ongoing advancements in the design and fabrication of soft robots are creating new challenges in modeling and control. This paper presents a dynamic Cosserat rod model for a single-section 3D-printed pneumatic soft robotic arm capable of combined stretching and bending. The model captures the manufa...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Sprog: | English |
| Udgivet: |
IEEE
2023-01-01
|
| Serier: | IEEE Access |
| Fag: | |
| Online adgang: | https://ieeexplore.ieee.org/document/10098800/ |
| _version_ | 1827921498099154944 |
|---|---|
| author | Carlo Alessi Egidio Falotico Alessandro Lucantonio |
| author_facet | Carlo Alessi Egidio Falotico Alessandro Lucantonio |
| author_sort | Carlo Alessi |
| collection | DOAJ |
| description | Ongoing advancements in the design and fabrication of soft robots are creating new challenges in modeling and control. This paper presents a dynamic Cosserat rod model for a single-section 3D-printed pneumatic soft robotic arm capable of combined stretching and bending. The model captures the manufacturing variability of the actuators by tuning the pressure-strain relation for each actuator. Moreover, it includes a simple model of the pneumatic actuation system that incorporates the transient response of proportional pressure-controlled electronic valves. The model was validated experimentally for several quasi-static and dynamic motion patterns with actuation frequencies ranging from 0.2 Hz to 20 Hz. The model reproduced the quasi-static experiments with an average tip error of 4.83% of the arm length. In dynamic conditions, the average tip error was 4.33% for stretching and bending motions, 5.64% for five motor babbling experiments, and 22.53% for three challenging sinusoidal patterns. An ablation study of the model components found that the most influential factors for the average accuracy were gravity and strain gains, followed by damping and pressure transient. This work could assist researchers in focusing on the most significant aspects for closing the real-to-sim gap when modeling pneumatic soft robotic arms. |
| first_indexed | 2024-03-13T04:28:25Z |
| format | Article |
| id | doaj.art-eef436ae622242db85dfa1e8b0f08a83 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-13T04:28:25Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-eef436ae622242db85dfa1e8b0f08a832023-06-19T23:00:27ZengIEEEIEEE Access2169-35362023-01-0111378403785310.1109/ACCESS.2023.326628210098800Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic ArmCarlo Alessi0https://orcid.org/0000-0002-7545-8513Egidio Falotico1https://orcid.org/0000-0001-8060-8080Alessandro Lucantonio2https://orcid.org/0000-0002-9807-5451The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, ItalyThe BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, ItalyDepartment of Mechanical and Production Engineering, Aarhus University, Aarhus, DenmarkOngoing advancements in the design and fabrication of soft robots are creating new challenges in modeling and control. This paper presents a dynamic Cosserat rod model for a single-section 3D-printed pneumatic soft robotic arm capable of combined stretching and bending. The model captures the manufacturing variability of the actuators by tuning the pressure-strain relation for each actuator. Moreover, it includes a simple model of the pneumatic actuation system that incorporates the transient response of proportional pressure-controlled electronic valves. The model was validated experimentally for several quasi-static and dynamic motion patterns with actuation frequencies ranging from 0.2 Hz to 20 Hz. The model reproduced the quasi-static experiments with an average tip error of 4.83% of the arm length. In dynamic conditions, the average tip error was 4.33% for stretching and bending motions, 5.64% for five motor babbling experiments, and 22.53% for three challenging sinusoidal patterns. An ablation study of the model components found that the most influential factors for the average accuracy were gravity and strain gains, followed by damping and pressure transient. This work could assist researchers in focusing on the most significant aspects for closing the real-to-sim gap when modeling pneumatic soft robotic arms.https://ieeexplore.ieee.org/document/10098800/Soft robot modelCosserat rodpneumatic actuators |
| spellingShingle | Carlo Alessi Egidio Falotico Alessandro Lucantonio Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm IEEE Access Soft robot model Cosserat rod pneumatic actuators |
| title | Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm |
| title_full | Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm |
| title_fullStr | Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm |
| title_full_unstemmed | Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm |
| title_short | Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm |
| title_sort | ablation study of a dynamic model for a 3d printed pneumatic soft robotic arm |
| topic | Soft robot model Cosserat rod pneumatic actuators |
| url | https://ieeexplore.ieee.org/document/10098800/ |
| work_keys_str_mv | AT carloalessi ablationstudyofadynamicmodelfora3dprintedpneumaticsoftroboticarm AT egidiofalotico ablationstudyofadynamicmodelfora3dprintedpneumaticsoftroboticarm AT alessandrolucantonio ablationstudyofadynamicmodelfora3dprintedpneumaticsoftroboticarm |