Modeling of Soft Fiber-Reinforced Bending Actuators
Modeling of Soft Fiber-Reinforced Bending Actuators
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DOI：
10.1109/tro.2015.2428504
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发表时间：
2015-06-01
影响因子：
7.8
通讯作者：
Walsh, Conor J.
中科院分区：
文献类型：
--
作者：
Polygerinos, Panagiotis;Wang, Zheng;Walsh, Conor J.
由嵌入柔性材料的弹性体基质组成的软流体致动器对机器人社区特别感兴趣，因为它们是负担得起的，并且可以很容易地针对给定的应用进行定制。然而，这种致动器的显著潜力目前受到限制，因为它们的设计通常基于直觉。在本文中，这些致动器的操作原理进行了全面的分析和描述，通过实验验证的准静态分析和有限元法模型，在自由空间中的弯曲和力的产生时，在与物体接触。这项研究提供了一套系统的设计规则，以帮助机器人社区创建软致动器，通过了解这些如何改变其输出作为输入压力的函数的一些几何参数。此外，所提出的分析模型在控制器中实现，证明其能够将压力信息转换为真实的弯曲角度。对软多材料致动器的这种理解将使未来的设计概念能够快速迭代，并预测其性能，从而使新的和创新的应用，产生更复杂的运动进行探索。
Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because they are affordable and can be easily customized to a given application. However, the significant potential of such actuators is currently limited as their design has typically been based on intuition. In this paper, the principle of operation of these actuators is comprehensively analyzed and described through experimentally validated quasi-static analytical and finite-element method models for bending in free space and force generation when in contact with an object. This study provides a set of systematic design rules to help the robotics community create soft actuators by understanding how these vary their outputs as a function of input pressure for a number of geometrical parameters. Additionally, the proposed analytical model is implemented in a controller demonstrating its ability to convert pressure information to bending angle in real time. Such an understanding of soft multimaterial actuators will allow future design concepts to be rapidly iterated and their performance predicted, thus enabling new and innovative applications that producemore complex motions to be explored.