2021•ActuatorsOpen access

A Dynamic Modeling Method for the Bi-Directional Pneumatic Actuator Using Dynamic Equilibrium Equation

Yiqing Li, Wen Zhou, Junwu Wu, Guoxu Hu

Abstract

Dynamic modeling of soft pneumatic actuators are a challenging research field. In this paper, a dynamic modeling method used for a bi-directionaly soft pneumatic actuator with symmetrical chambers is proposed. In this dynamic model, the effect of uninflated rubber block on bending deformation is considered. The errors resulting from the proposed dynamic equilibrium equation are analyzed, and a compensation method for the dynamic equilibrium equation is proposed. The equation can be solved quickly after simplification. The results show that the proposed dynamic model can describe the motion process of the bi-directional pneumatic actuator effectively.

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Available abstract

Key concepts: Actuator, Dynamic equilibrium, Dynamic equation, Control theory (sociology), Pneumatic actuator, Compensation (psychology), Process (computing), Block (permutation group theory)