{"title":"流体软致动器的动态建模：分数方法的初步结果","authors":"","doi":"10.1016/j.ifacol.2024.08.231","DOIUrl":null,"url":null,"abstract":"<div><p>Dynamic modeling of soft actuators is a challenging field of research mainly due to the nonlinear properties of the materials they are made of, as well as the infinite degrees of freedom that they exhibit. In this paper, the defection of an eccentric soft fluidic actuator is characterized in terms of the dynamic displacement using both integer and fractional order (FO) models. The actuator, which is cylindrical in shape, is made of a silicone polymer called polydimethylsiloxane (PDMS) from a water-soluble mold and a rod that, when placed eccentrically, allows to create the internal chamber of the actuator. Experimental results are presented to show that the best fitting is obtained with FO models. In fact, the dynamics of the actuator can be fully described with a two-parameter model, namely a fractional integrator of order of about 1.2 with a gain.</p></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2405896324009613/pdf?md5=049b22ba40296f776aa75dfddaa9d910&pid=1-s2.0-S2405896324009613-main.pdf","citationCount":"0","resultStr":"{\"title\":\"Dynamic Modeling of a Fluidic Soft Actuator: First Results Within a Fractional Approach\",\"authors\":\"\",\"doi\":\"10.1016/j.ifacol.2024.08.231\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Dynamic modeling of soft actuators is a challenging field of research mainly due to the nonlinear properties of the materials they are made of, as well as the infinite degrees of freedom that they exhibit. In this paper, the defection of an eccentric soft fluidic actuator is characterized in terms of the dynamic displacement using both integer and fractional order (FO) models. The actuator, which is cylindrical in shape, is made of a silicone polymer called polydimethylsiloxane (PDMS) from a water-soluble mold and a rod that, when placed eccentrically, allows to create the internal chamber of the actuator. Experimental results are presented to show that the best fitting is obtained with FO models. In fact, the dynamics of the actuator can be fully described with a two-parameter model, namely a fractional integrator of order of about 1.2 with a gain.</p></div>\",\"PeriodicalId\":37894,\"journal\":{\"name\":\"IFAC-PapersOnLine\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.sciencedirect.com/science/article/pii/S2405896324009613/pdf?md5=049b22ba40296f776aa75dfddaa9d910&pid=1-s2.0-S2405896324009613-main.pdf\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IFAC-PapersOnLine\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S2405896324009613\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"Engineering\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IFAC-PapersOnLine","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2405896324009613","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
Dynamic Modeling of a Fluidic Soft Actuator: First Results Within a Fractional Approach
Dynamic modeling of soft actuators is a challenging field of research mainly due to the nonlinear properties of the materials they are made of, as well as the infinite degrees of freedom that they exhibit. In this paper, the defection of an eccentric soft fluidic actuator is characterized in terms of the dynamic displacement using both integer and fractional order (FO) models. The actuator, which is cylindrical in shape, is made of a silicone polymer called polydimethylsiloxane (PDMS) from a water-soluble mold and a rod that, when placed eccentrically, allows to create the internal chamber of the actuator. Experimental results are presented to show that the best fitting is obtained with FO models. In fact, the dynamics of the actuator can be fully described with a two-parameter model, namely a fractional integrator of order of about 1.2 with a gain.
期刊介绍：
All papers from IFAC meetings are published, in partnership with Elsevier, the IFAC Publisher, in theIFAC-PapersOnLine proceedings series hosted at the ScienceDirect web service. This series includes papers previously published in the IFAC website.The main features of the IFAC-PapersOnLine series are: -Online archive including papers from IFAC Symposia, Congresses, Conferences, and most Workshops. -All papers accepted at the meeting are published in PDF format - searchable and citable. -All papers published on the web site can be cited using the IFAC PapersOnLine ISSN and the individual paper DOI (Digital Object Identifier). The site is Open Access in nature - no charge is made to individuals for reading or downloading. Copyright of all papers belongs to IFAC and must be referenced if derivative journal papers are produced from the conference papers. All papers published in IFAC-PapersOnLine have undergone a peer review selection process according to the IFAC rules.
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