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Item type:Publication, Access status: with files , Fluid-structure interaction modelling of a soft pneumatic actuator(Multidisciplinary Digital Publishing Institute (MDPI), 2021-07-15); ; This paper presents a fully coupled fluid-structure interaction (FSI) simulation model of a soft pneumatic actuator (SPA). Previous research on modelling and simulation of SPAs mostly involves finite element modelling (FEM), in which the fluid pressure is considered as pressure load uniformly acting on the internal walls of the actuator. However, FEM modelling does not capture the physics of the fluid flow inside an SPA. An accurate modelling of the physical behaviour of an SPA requires a two-way FSI analysis that captures and transfers information from fluid to solid and vice versa. Furthermore, the investigation of the fluid flow inside the flow channels and chambers of the actuator are vital for an understanding of the fluid energy distribution and the prediction of the actuator performance. The FSI modelling is implemented on a typical SPA and the flow behaviour inside the actuator is presented. Moreover, the bending behaviour of the SPA from the FSI simulation results is compared with a corresponding FEM simulation.Publicationtype: Journal ArticleScopus© Citations 16 115 172 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Compression behavior of typical silicone rubbers for soft robotics applications at elevated temperatures(2021-04-12); ; ; In this communication, we analyze the compression behavior of typical silicone rubbers used in soft robotics applications at elevated temperatures. In particular, compression experiments according to ISO 7743 are performed with three mixing ratios (base polymer to curing agent) of Sylgard, Elastosil, and Ecoflex at 24 °C (room temperature), 30 °C, 40 °C, 50 °C, and 60 °C. Furthermore, typical hyperelastic material models are fitted to the measured stress-strain curves for room temperature. It is shown that the (third-order) Yeoh model shows the best overall fit, and the corresponding model parameters are stated.Publicationtype: Conference Paper43 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Kit based motion generator for a soft walking robotIn order to control high-level goals such as walking speed and direction or position of legged robots, a locomotion controller is required. This complicated task can be solved in many different ways. The approach presented here selects the optimal gait pattern from a discrete, predefined set of possibilities to get closer to a given target position. The method is based on an off-line component: elementary gait patterns are generated by trajectory optimization using a simulation model, and an on-line component: for given robot and target positions the optimal next elementary gait pattern is chosen based on a minimization problem, and the joint space references are derived from it. To ensure feasible subsequent poses, the elementary patterns always begin and end with one and the same pose, so that they can be placed on top of each other like Lego bricks. A great advantage of this method is a straightforward transition between different motion modes, such as switching from trotting to crawling. It is discussed how many different elementary patterns are needed to ensure a stable locomotion control. Finally, in simulation and experiment, it is shown that the robot can master any obstacle course using the proposed locomotion controller.Publicationtype: Conference Paper68