Soft Gripper Dynamics Using a Line-Segment Model With an Optimization-Based Parameter Identification Method
Soft Gripper Dynamics Using a Line-Segment Model With an Optimization-Based Parameter Identification Method
复制标题
DOI：
10.1109/lra.2017.2650149
复制
发表时间：
2017-01
影响因子：
5.2
通讯作者：
Zhongkui Wang;S. Hirai
中科院分区：
文献类型：
--
作者：
Zhongkui Wang;S. Hirai
软机器人技术是一个致力于软机器人开发和应用的新兴领域。由于其高度变形的特点，这类机器人的建模和控制是困难的。在本文中，我们提出了一个简化的模型来模拟流体弹性体作动器(FEA)。该模型由一系列由粘弹性接头连接的线段组成。气动输入被建模为作用于每个关节的主动力矩。推导了拉格朗日动力学方程。提出了一种基于优化的未知模型参数辨识方法。实验是使用三维(3D)打印的FEA进行的。单个有限元的标定结果表明，压力驱动弯曲角的重复性较好，所建立的动力学模型能够准确地再现有限元的变形行为。抓取实验表明，所提出的动力学模型可以预测抓持力，并通过单独的抓取力测量实验进行了验证。所提出的方法可以推广到其他软机器人的建模。
Soft robotics is an emerging field that focuses on the development and application of soft robots. Due to their highly deformable features, it is difficult to model and control such robots. In this paper, we proposed a simplified model to simulate a fluidic elastomer actuator (FEA). The model consists of a series of line segments connected by viscoelastic joints. Pneumatic inputs were modeled as active torques acting at each joint. The Lagrangian dynamic equations were derived. An optimization-based method was proposed to identify the unknown model parameters. Experiments were conducted using three-dimensional (3D) printed FEAs. Calibration results of a single FEA showed the repeatability of the pressure actuated bending angles, and the proposed dynamic model can precisely reproduce the deformation behavior of the FEA. Grasping experiments showed that the proposed dynamic model can predict the grasping forces, which was validated by a separate experiment of grasping force measurement. The presented methods can be extended to model other soft robots.