Finite Element Modeling of Soft Fluidic Actuators: Overview and Recent Developments

Matheus S. Xavier, A. Fleming, Y. Yong
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引用次数: 120

Abstract

Many soft robots are composed of soft fluidic actuators that are fabricated from silicone rubbers and use hydraulic or pneumatic actuation. The strong nonlinearities and complex geometries of soft actuators hinder the development of analytical models to describe their motion. Finite element modeling provides an effective solution to this issue and allows the user to predict performance and optimize soft actuator designs. Herein, the literature on a finite element analysis of soft actuators is reviewed. First, the required nonlinear elasticity concepts are introduced with a focus on the relevant models for soft robotics. In particular, the procedure for determining material constants for the hyperelastic models from material testing and curve fitting is explored. Then, a comprehensive review of constitutive model parameters for the most widely used silicone rubbers in the literature is provided. An overview of the procedure is provided for three commercially available software packages (Abaqus, Ansys, and COMSOL). The combination of modeling procedures, material properties, and design guidelines presented in this article can be used as a starting point for soft robotic actuator design.
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软流体执行器的有限元建模:综述与最新进展
许多软体机器人由硅橡胶制成的软流体执行器组成,并使用液压或气动驱动。软执行器的强非线性和复杂的几何形状阻碍了描述其运动的解析模型的发展。有限元建模为这一问题提供了有效的解决方案,并允许用户预测性能和优化软执行器设计。本文对软执行器的有限元分析进行了综述。首先,介绍了所需的非线性弹性概念,重点介绍了软机器人的相关模型。特别地,探讨了从材料试验和曲线拟合中确定超弹性模型的材料常数的过程。然后,对文献中应用最广泛的硅橡胶的本构模型参数进行了全面的综述。提供了三个商用软件包(Abaqus, Ansys和COMSOL)的过程概述。本文提出的建模过程、材料特性和设计准则的结合可以作为软机器人执行器设计的起点。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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