A Single-Parameter Model for Soft Bellows Actuators under Axial Deformation and Loading
Emma Treadway,Melissa Brei,Audrey Sedal,R. Brent Gillespie,Emma Treadway,Melissa Brei,Audrey Sedal,R. Brent Gillespie
Soft fluidic actuators are becoming popular for their backdrivability, potential for high power density, and their support for power supply through flexible tubes. Control and design of such actuators requires serviceable models that describe how they relate fluid pressure and flow to mechanical force and motion. We present a simple 2-port model of a bellows actuator that accounts for the relation...