CHARACTERISTICS ANALYSIS AND MODELING OF A MINIATURE PNEUMATIC CURLING RUBBER ACTUATOR

摘要

Soft actuators driven by pneumatic pressure have been shown to have many potential applications as actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, for they can ensure high safety for fragile objects from their low mechanical impedance. In this paper, a miniature pneumatic bending soft actuator is reviewed, and a nonlinear model of which is identified using nonlinear model based on support vector regression (SVR). That is, first, characteristic of miniature pneumatic bending soft actuator is analyzed, a new output variable is defined based on characteristic analysis, and a nonlinear input output model is presented. Second, motion characteristics of miniature pneumatic bending soft actuator are studied by experiment. Finally, based on experimental data, the present nonlinear model of miniature pneumatic bending soft actuator is identified using data-based SVR model, where a generalized Gaussian function is used as the kernel function.