Bond Graph Modelling and Simulation of Pneumatic Soft Actuator

Garima Bhandari; Pushparaj Mani Pathak; Jung-Min Yang

Bond Graph Modelling and Simulation of Pneumatic Soft Actuator

Robotics 2022-02-24 v1

Authors: Garima Bhandari , Pushparaj Mani Pathak , Jung-Min Yang

Abstract

This paper presents the design and dynamic modelling of a soft pneumatic actuator that can be used to mimic snake or worm-like locomotion. The bond graph technique is used to derive the dynamics of the actuator. To validate the accuracy of the derived dynamic model, we conduct numerical simulations using 20-sim software. Experimental results demonstrate that the soft actuator achieves bi-directional bending and linear displacement, which is essential for mimicking snake or worm-like locomotion

Keywords

soft robotics

Cite

@article{arxiv.2202.11468,
  title  = {Bond Graph Modelling and Simulation of Pneumatic Soft Actuator},
  author = {Garima Bhandari and Pushparaj Mani Pathak and Jung-Min Yang},
  journal= {arXiv preprint arXiv:2202.11468},
  year   = {2022}
}

Comments

10 pages, 6 figures, Robotics & Control Lab IIT Roorkee, Mechanical and Industrial Engineering Department

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