Bond Graph Modelling and Simulation of Pneumatic Soft Actuator

TL;DR

This paper develops a bond graph-based dynamic model of a soft pneumatic actuator for snake-like movement, validated through simulations and experiments showing effective bi-directional bending and displacement.

Contribution

It introduces a novel bond graph modeling approach for soft pneumatic actuators tailored for snake-like locomotion applications.

Findings

The model accurately predicts actuator dynamics.

Experimental results confirm bi-directional bending capability.

The actuator achieves significant linear displacement.

Abstract

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 software. Experimental results demonstrate that the soft actuator achieves bi-directional bending and linear displacement, which is essential for mimicking snake or worm-like locomotion