On the development of rod-based models for pneumatically actuated soft robot arms: A five-parameter constitutive relation
On the development of rod-based models for pneumatically actuated soft robot arms: A five-parameter constitutive relation
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DOI：
10.1016/j.ijsolstr.2017.05.003
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发表时间：
2017-08
影响因子：
3.6
通讯作者：
K. Payrebrune;O. O’Reilly
中科院分区：
文献类型：
--
作者：
K. Payrebrune;O. O’Reilly
尽管与硬机器人相比，软机器人具有许多吸引人的特征，但为这些高度变形、非线性的系统开发易处理的模型是具有挑战性的。在最近的一篇论文中，作者发表了一种非经典的五参数本构关系，该关系适用于广泛使用的气动软机械臂的杆基模型。人们很自然地会问，是否可以通过重新设计执行器来消除这种关系的复杂性？为此，利用有限元模型和试验结果进一步探讨了五参数本构关系。对于气动软机械臂的多种设计，我们能够演示如何使用有限元模型来代替实验来描述本构关系，以及如何通过执行器长度和施加压力来扩展这些关系。我们的主要结果是发现五参数本构关系与气动软机器人臂密切相关，并且这种关系的参数可以通过三次有限元模拟来确定。
While soft robots have many attractive features compared to their hard counterparts, developing tractable models for these highly deformable, nonlinear, systems is challenging. In a recent paper, the authors published a non-classic, five-parameter constitutive relation for a rod-based model of a widely used, pneumatically actuated soft robot arm. It is natural to ask if the complexity of the relation can be eliminated by redesigning the actuator? To this end, finite element models and experimental results are used to further explore the five-parameter constitutive relation. For multiple designs of the pneumatically actuated soft robot arm, we are able to demonstrate how finite element models can be employed in place of experiments to specify the constitutive relations and how the relations are scalable by actuator length and applied pressure. Our primary result is the finding that the five-parameter constitutive relation is germane to pneumatically actuated soft robot arms and the parameters for this relation can be determined by three finite element simulations.