论文标题
气动软执行器的粘结图建模和仿真
Bond Graph Modelling and Simulation of Pneumatic Soft Actuator
论文作者
论文摘要
本文介绍了可用于模仿蛇或类似蠕虫的运动的软气动执行器的设计和动态建模。键图技术用于得出执行器的动力学。为了验证派生动态模型的准确性，我们使用20-SIM软件进行数值模拟。实验结果表明，软执行器实现双向弯曲和线性位移，这对于模仿蛇或类似蠕虫的运动至关重要
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
