Control-oriented modelling of a 3D-printed soft actuator

Zolfagharian, Ali, Kaynak, Akif, Khoo, Sui Yang, Zhang, Jun, Nahavandi, Saeid and Kouzani, Abbas 2019, Control-oriented modelling of a 3D-printed soft actuator, Materials, vol. 12, no. 1, pp. 1-13, doi: 10.3390/ma12010071.

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Title Control-oriented modelling of a 3D-printed soft actuator
Author(s) Zolfagharian, Ali
Kaynak, AkifORCID iD for Kaynak, Akif
Khoo, Sui Yang
Zhang, JunORCID iD for Zhang, Jun
Nahavandi, SaeidORCID iD for Nahavandi, Saeid
Kouzani, AbbasORCID iD for Kouzani, Abbas
Journal name Materials
Volume number 12
Issue number 1
Start page 1
End page 13
Total pages 13
Publisher MDPI
Place of publication Lausanne, Switzerland
Publication date 2019-01-01
ISSN 1996-1944
Keyword(s) modeling
soft actuator
soft robot
3D print
science & technology
materials science
Summary A new type of soft actuator was developed by using hydrogel materials and three-dimensional (3D) printing technology, attracting the attention of researchers in the soft robotics field. Due to parametric uncertainties of such actuators, which originate in both a custom design nature of 3D printing as well as time and voltage variant characteristics of polyelectrolyte actuators, a sophisticated model to estimate their behaviour is required. This paper presents a practical modeling approach for the deflection of a 3D printed soft actuator. The suggested model is composed of electrical and mechanical dynamic models while the earlier version describes the actuator as a resistive-capacitive (RC) circuit. The latter model relates the ionic charges to the bending of an actuator. The experimental results were acquired to estimate the transfer function parameters of the developed model incorporating Takagi-Sugeno (T-S) fuzzy sets. The proposed model was successful in estimating the end-point trajectory of the actuator, especially in response to a broad range of input voltage variation. With some modifications in the electromechanical aspects of the model, the proposed modelling method can be used with other 3D printed soft actuators.
Language eng
DOI 10.3390/ma12010071
Field of Research 03 Chemical Sciences
09 Engineering
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2018, the authors
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