A Single-Parameter Model for Soft Bellows Actuators under Axial Deformation and Loading
Bibliographic record
Abstract
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 relationships among fluid and mechanical variables imposed by the kinematics of the deforming bellows structure and accounts for elastic energy stored in the actuator's thermoplastic material structure. Elastic energy storage due to axial deformation is captured by revolving a differential strip whose linear elastic behavior is a nonlinear function of the actuator length. The model is evaluated through experiments in which either actuator length and pressure or force and pressure are imposed. The model has an error of 9.8% of the force range explored and yields insight into the effects of geometry changes. The resulting model can be used for model-based control or actuator design across the full operating range and can be exercised under either imposed force or imposed actuator length.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".