Physics-Based Modeling of Twisted-and-Coiled Actuators Using Cosserat Rod Theory
Physics-Based Modeling of Twisted-and-Coiled Actuators Using Cosserat Rod Theory
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DOI：
10.1109/tro.2021.3104238
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发表时间：
2022-04
影响因子：
7.8
通讯作者：
Jiefeng Sun;Jianguo Zhao
中科院分区：
文献类型：
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作者：
Jiefeng Sun;Jianguo Zhao
扭转和盘绕致动器（TCA）最近已成为一种有前途的人工肌肉的各种机器人应用，因为他们是强大的，低成本，和可定制的。为了更好地促进应用，关键是为不同类型的TCA（例如，自盘绕、自由行程、圆锥形等）。虽然最近已经提出了几种建模方法，现有的模型要么无法捕捉大变形期间的非线性，要么不能建模具有非均匀几何形状的TCA。在这项工作中，我们建立了一个通用的框架，使用Cosserat杆理论，可以捕捉大变形的非线性和模拟非均匀几何形状的TCA建模。此外，我们表明现有的方法是我们的一般模型的特殊情况。通过静力学和动力学实验验证了该模型的正确性，结果表明，该模型比现有模型更准确，尤其是在TCA发生大变形时。鉴于TCA的广泛应用，我们的通用模型可以帮助更好地设计、优化和控制由不同类型的TCA驱动的系统/机器人/设备。
Twisted and coiled actuators (TCAs) have recently emerged as a promising artificial muscle for various robotic applications because they are strong, low cost, and customizable. To better facilitate the applications, it is critical to establish general and precise models for different types of TCAs (e.g., self-coiled, free-stroke, conical, etc.). Although several modeling methods have been proposed recently, existing models either fail to capture the nonlinearity during large deformations or cannot model TCAs with nonuniform geometries. In this work, we establish a general framework for modeling TCAs using Cosserat rod theory that can capture the nonlinearity of large deformations and simulate TCAs with nonuniform geometries. Furthermore, we show existing methods are special cases of our general model. Comprehensive statics and dynamics experiments are conducted to verify the proposed model, and the results demonstrate that the model is more accurate than existing ones, especially when a TCA is subject to large deformations. Given the wide applications of TCAs, our general model can help to better design, optimize, and control systems/robots/devices driven by different types of TCAs.