A soft manipulator for efficient delicate grasping in shallow water: Modeling, control, and real-world experiments
A soft manipulator for efficient delicate grasping in shallow water: Modeling, control, and real-world experiments
复制标题
用于浅水中高效精细抓取的软机械手：建模、控制和真实实验
DOI：
10.1177/0278364920917203
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发表时间：
2020-07-07
影响因子：
9.2
通讯作者：
Wen, Li
中科院分区：
文献类型：
--
作者：
Gong, Zheyuan;Fang, Xi;Wen, Li
在浅水（水深：~30米）中收集是一个新兴领域，需要机器人来取代人类潜水员。软机器人具有几个有前途的特征（例如，与环境的安全交互、重量轻等）执行这些任务。在这篇文章中，我们开发了一个水下机器人系统与三自由度（3-DoF）的空间微妙的抓在浅水中的软机械手。首先，我们提出了一个反弯曲和拉伸结构（OBSS）的软操作器的设计和制造。然后，提出了一种简单有效的运动学方法来控制柔性机械臂末端执行器的空间位置和轨迹。OBSS机械手的逆运动学可以有效地解决（计算时间：8.2毫秒）。根据这种逆运动学方法，我们证明了OBSS软机械手可以跟踪复杂的二维和三维轨迹，包括星星，螺旋线等。此外，我们进行了实时闭环取放实验的机械手与双目和手持摄像机在实验室水族馆。水动力实验表明，OBSS软机械手在水下作业时产生的力（小于0.459 N）和扭矩（小于0.228 N·m）较小，具有低惯性特征。最后，我们证明了带有OBSS软操纵器的水下机器人系统成功地在自然海洋环境底部收集了海鲜动物。该机器人在20分钟内成功收集了8只海胆和1只海参，水深约10米。
Collecting in shallow water (water depth: ~30 m) is an emerging field that requires robotics for replacing human divers. Soft robots have several promising features (e.g., safe interaction with the environments, lightweight, etc.) for performing such tasks. In this article, we developed an underwater robotic system with a three-degree-of-freedom (3-DoF) soft manipulator for spatial delicate grasping in shallow water. First, we present the design and fabrication of the soft manipulator with an opposite-bending-and-stretching structure (OBSS). Then, we proposed a simple and efficient kinematics method for controlling the spatial location and trajectory of the soft manipulator’s end effector. The inverse kinematics of the OBSS manipulator can be solved efficiently (computation time: 8.2 ms). According to this inverse kinematics method, we demonstrated that the OBSS soft manipulator could track complex two-dimensional and three-dimensional trajectories, including star, helix, etc. Further, we performed real-time closed-loop pick-and-place experiments of the manipulator with binocular and on-hand cameras in a lab aquarium. Hydrodynamic experiments showed that the OBSS soft manipulator produced little force (less than 0.459 N) and torque (less than 0.228 N·m), which suggested its low-inertia feature during the underwater operation. Finally, we demonstrated that the underwater robotic system with the OBSS soft manipulator successfully collected seafood animals at the bottom of the natural oceanic environment. The robot successfully collected eight sea echini and one sea cucumber within 20 minutes at a water depth of around 10 m.