Bond Graph Modelling and Simulation of Pneumatic Soft Actuator

초록

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${}^{\text{R◯}}$ software.Experimental results demonstrate that the soft actuator achieves bidirectional bending and linear displacement, which is essential for mimicking snake or worm-like locomotion. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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