فصلنامه
نوع مقاله : مقاله پژوهشی
نویسندگان
1 گروه مهندسی مکانیک، دانشکده مهندسی، دانشگاه فردوسی مشهد
2 گروه مهندسی مکانیک، دانشگاه صنعتی شاهرود، شاهرود، ایران
3 گروه مهندسی کامپیوتر، UNSW، سیدنی، استرالیا
کلیدواژهها
عنوان مقاله English
نویسندگان English
This paper presents a comprehensive vibrational and static analysis of a soft actuator considering nonlinear effects. Fluidic channels embedded within a soft beam are considered a soft robotic actuator, exhibiting nonlinear characteristics due to the inherent properties of the soft material. The analytical process is based on Hamilton's principle, and the numerical solution has been carried out using the finite element software ANSYS, utilizing the Fluid-Structure Interaction (FSI) and Pre-stress Modal tools. Initially, time-dependent inlet pressure is applied, and the resulting pressure distribution within the soft fluidic actuator (SFA) is extracted over the time domain. Following the validation of results obtained from finite element software and analytical methods, the feasibility of using this actuator as an artificial muscle in a robotic fish has been examined, leveraging the phenomenon of resonance and analyzing its behavior under real-world conditions. The findings indicate that utilizing this type of actuator in the robotic fish's tail enables functional similarity to a real fish after 8 seconds. However, by applying the proposed method and tuning the operating frequency closer to the system’s natural frequency, the robot can immediately exhibit movements resembling those of a biological fish.
کلیدواژهها English
