An effective methodology to solve inverse kinematics of electroactive polymer actuators modelled as active and soft robotic structures
An effective methodology to solve inverse kinematics of electroactive polymer actuators modelled as active and soft robotic structures
复制标题
DOI：
10.1016/j.mechmachtheory.2013.04.005
复制
发表时间：
2013-09-01
影响因子：
5.2
通讯作者：
Li, Weihua
中科院分区：
文献类型：
--
作者：
Mutlu, Rahim;Alici, Gursel;Li, Weihua
电活性聚合物（eap）在用作致动器时产生高度非线性的挠度，即人造肌肉。虽然之前已经提出了几种建模方法来了解它们的机械，化学，电气行为或“电化学-机械”行为，但尚未研究估计EAP执行器的整体形状偏转。因此，我们报告了(i)一种有效的方法来估计这些驱动器的整体形状偏转采用软机器人驱动器/机械手方法和（ii）一个角度优化方法，我们称之为AngleOPT，以准确解决EAP驱动器的逆运动学问题。采用层压聚吡咯（PPy） EAP作动器对具有大于输入自由度的柔性机器人运动学模型进行了验证。由此，我们将一个难题简化为一个超冗余软机器人系统的易解逆运动学问题（更容易求解）。在给定电压下，提出了一种参数估计模型来预测作动器的尖端坐标。实验和数值结果证明了该方法从逆运动学模型估计EAP作动器高度非线性弯曲行为的有效性。所提出的方法可以扩展到具有类似拓扑结构的其他类型的智能结构。(C) 2013 Elsevier Ltd.版权所有。
Electroactive polymers (EAPs) generate highly non-linear deflections when they are used as actuators, which are known as artificial muscles. Though several modelling methods have been proposed before to understand their mechanical, chemical, electrical behaviours or 'electro-chemo-mechanical' behaviour, estimating the whole shape deflection of the EAP actuators has not been studied yet. Therefore, we report on (i) an effective methodology to estimate these actuators' whole shape deflection by employing a soft robotic actuator/manipulator approach and (ii) an angle optimization method, which we call AngleOPT, to accurately solve the EAP actuators' inverse kinematic problem. Laminated polypyrrole (PPy) EAP actuators are employed to validate the soft robotic kinematic model which has more degrees of freedom than its input. This follows that we have reduced a difficult problem to an easy-to solve inverse kinematic problem (easier to solve) of a hyper-redundant soft robotic system. A parametric estimation model is also proposed to predict the tip coordinates of the actuators for a given voltage. The experimental and numerical results are presented to demonstrate the efficacy of the methodology for estimating the EAP actuators' highly non-linear bending behaviour from the inverse kinematic model. The proposed methodology can be extended to other type of smart structures with a similar topology. (C) 2013 Elsevier Ltd. All rights reserved.