Bond Graph Modelling and Simulation of Pneumatic Soft Actuator

Garima Bhandari; Pushparaj Mani Pathak; Jung Min Yang

doi:10.1007/978-981-19-3716-3_43

Bond Graph Modelling and Simulation of Pneumatic Soft Actuator

Garima Bhandari, Pushparaj Mani Pathak, Jung Min Yang

Indian Institute of Technology Roorkee

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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$$^{\text{\textregistered} }$$ software.Experimental results demonstrate that the soft actuator achieves bidirectional bending and linear displacement, which is essential for mimicking snake or worm-like locomotion.

Original language	English
Title of host publication	Recent Advances in Machines and Mechanisms - Select Proceedings of the iNaCoMM 2021
Editors	Vijay Kumar Gupta, Puneet Tandon, M. Zahid Ansari, C. Amarnath
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	537-546
Number of pages	10
ISBN (Print)	9789811937156
DOIs	https://doi.org/10.1007/978-981-19-3716-3_43
State	Published - 2023
Event	5th International and 20th National Conference on Machines and Mechanisms, iNaCoMM 2021 - Jabalpur, India Duration: 9 Dec 2021 → 11 Dec 2021

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	5th International and 20th National Conference on Machines and Mechanisms, iNaCoMM 2021
Country/Territory	India
City	Jabalpur
Period	9/12/21 → 11/12/21

Keywords

Bond graph
Control
Dynamics
Snake robots
Soft robots

Access to Document

10.1007/978-981-19-3716-3_43

Cite this

Bhandari, G., Pathak, P. M., & Yang, J. M. (2023). Bond Graph Modelling and Simulation of Pneumatic Soft Actuator. In V. K. Gupta, P. Tandon, M. Z. Ansari, & C. Amarnath (Eds.), Recent Advances in Machines and Mechanisms - Select Proceedings of the iNaCoMM 2021 (pp. 537-546). (Lecture Notes in Mechanical Engineering). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-3716-3_43

Bhandari, Garima ; Pathak, Pushparaj Mani ; Yang, Jung Min. / Bond Graph Modelling and Simulation of Pneumatic Soft Actuator. Recent Advances in Machines and Mechanisms - Select Proceedings of the iNaCoMM 2021. editor / Vijay Kumar Gupta ; Puneet Tandon ; M. Zahid Ansari ; C. Amarnath. Springer Science and Business Media Deutschland GmbH, 2023. pp. 537-546 (Lecture Notes in Mechanical Engineering).

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title = "Bond Graph Modelling and Simulation of Pneumatic Soft Actuator",

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$$^{\text{\textregistered} }$$ software.Experimental results demonstrate that the soft actuator achieves bidirectional bending and linear displacement, which is essential for mimicking snake or worm-like locomotion.",

keywords = "Bond graph, Control, Dynamics, Snake robots, Soft robots",

author = "Garima Bhandari and Pathak, {Pushparaj Mani} and Yang, {Jung Min}",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 5th International and 20th National Conference on Machines and Mechanisms, iNaCoMM 2021 ; Conference date: 09-12-2021 Through 11-12-2021",

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language = "English",

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series = "Lecture Notes in Mechanical Engineering",

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pages = "537--546",

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Bhandari, G, Pathak, PM & Yang, JM 2023, Bond Graph Modelling and Simulation of Pneumatic Soft Actuator. in VK Gupta, P Tandon, MZ Ansari & C Amarnath (eds), Recent Advances in Machines and Mechanisms - Select Proceedings of the iNaCoMM 2021. Lecture Notes in Mechanical Engineering, Springer Science and Business Media Deutschland GmbH, pp. 537-546, 5th International and 20th National Conference on Machines and Mechanisms, iNaCoMM 2021, Jabalpur, India, 9/12/21. https://doi.org/10.1007/978-981-19-3716-3_43

Bond Graph Modelling and Simulation of Pneumatic Soft Actuator. / Bhandari, Garima; Pathak, Pushparaj Mani; Yang, Jung Min.
Recent Advances in Machines and Mechanisms - Select Proceedings of the iNaCoMM 2021. ed. / Vijay Kumar Gupta; Puneet Tandon; M. Zahid Ansari; C. Amarnath. Springer Science and Business Media Deutschland GmbH, 2023. p. 537-546 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - 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$$^{\text{\textregistered} }$$ software.Experimental results demonstrate that the soft actuator achieves bidirectional bending and linear displacement, which is essential for mimicking snake or worm-like locomotion.

AB - 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$$^{\text{\textregistered} }$$ software.Experimental results demonstrate that the soft actuator achieves bidirectional bending and linear displacement, which is essential for mimicking snake or worm-like locomotion.

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Bhandari G, Pathak PM, Yang JM. Bond Graph Modelling and Simulation of Pneumatic Soft Actuator. In Gupta VK, Tandon P, Ansari MZ, Amarnath C, editors, Recent Advances in Machines and Mechanisms - Select Proceedings of the iNaCoMM 2021. Springer Science and Business Media Deutschland GmbH. 2023. p. 537-546. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-981-19-3716-3_43

Bond Graph Modelling and Simulation of Pneumatic Soft Actuator

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