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Virtual Work for a System of Connected Rigid Bodies01:06

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Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
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Quasi-Static Modeling Framework for Soft Bellow-Based Biomimetic Actuators.

Kelvin HoLam Heung1, Ting Lei1, Kaixin Liang1

  • 1Department of Building and Real Estate, Hong Kong Polytechnic University, Hong Kong.

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|March 27, 2024
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Summary

This study introduces a quasi-static analytical model for bellow-based soft fluidic actuators, enabling optimized design and performance prediction for biomimetic robots. The model is validated by simulations and experiments.

Keywords:
analytical modelingelongationfinite element method (FEM)pneumatic extension actuatorssoft robots

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft robots utilize elastomeric matrices and flexible materials for enhanced adaptability and movement.
  • Bellow-shaped actuators offer greater efficiency than fiber-reinforced actuators, requiring less input pressure for similar motion.
  • Quantifying bellow-based soft fluidic actuator performance is challenging due to complex, non-uniform structures.

Purpose of the Study:

  • To develop a quasi-static analytical model for analyzing bellow-based soft actuators with linear extension.
  • To provide standardized guidance and criteria for designing bellow dimensions.
  • To facilitate the determination of optimal geometrical parameters for effective biomimetic robot design.

Main Methods:

  • Quasi-static analytical modeling of bellow-based soft actuators.
  • Validation through finite element method (FEM) simulations.
  • Experimental testing under fluidic pressurization and free space elongation.

Main Results:

  • The developed analytical model accurately predicts the performance of bellow-based soft actuators.
  • FEM simulations and experimental results validate the model's predictions.
  • The study provides a framework for determining optimal bellow actuator geometry.

Conclusions:

  • The quasi-static analytical model offers a robust method for analyzing bellow-based soft actuators.
  • This research addresses the lack of standardized design criteria for bellow dimensions.
  • The findings enable improved performance prediction and optimization for biomimetic robots.