Zolfagharian Ali, Kaynak Akif, Yang Khoo Sui, Zhang Jun, Nahavandi Saeid, Kouzani Abbas
School of Engineering, Deakin University, 3216 Geelong, Australia.
Institute for Intelligent Systems Research and Innovation (IISRI), Deakin University, 3216 Geelong, Australia.
Materials (Basel). 2018 Dec 26;12(1):71. doi: 10.3390/ma12010071.
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.
利用水凝胶材料和三维（3D）打印技术开发了一种新型软致动器，引起了软机器人领域研究人员的关注。由于此类致动器存在参数不确定性，其源于3D打印的定制设计特性以及聚电解质致动器的时间和电压变化特性，因此需要一个复杂的模型来估计其行为。本文提出了一种用于3D打印软致动器挠度的实用建模方法。所建议的模型由电气和机械动态模型组成，而早期版本将致动器描述为电阻 - 电容（RC）电路。后一个模型将离子电荷与致动器的弯曲联系起来。获取了实验结果，以估计结合了Takagi - Sugeno（T - S）模糊集的所开发模型的传递函数参数。所提出的模型成功地估计了致动器的端点轨迹，特别是在响应广泛的输入电压变化时。通过对模型机电方面进行一些修改，所提出的建模方法可用于其他3D打印软致动器。
