Nonlinear analysis on moving process of soft robots
Nonlinear analysis on moving process of soft robots
复制标题
软体机器人运动过程的非线性分析
DOI：
10.1007/s11071-013-0821-z
复制
发表时间：
2013-07-01
影响因子：
5.6
通讯作者：
Shen, Xingyao
中科院分区：
文献类型：
--
作者：
Fei, Yanqiong;Shen, Xingyao
软机器人由多个可变形的球形单元组成。它是一个非线性系统。根据球形单元的收缩和膨胀作用，可以改变每个球形单元的大小。因此，软机器人可以向前移动。本文以一个圆周运动为例，分析了每个单元的放气和充气模式的运动过程。计算了期望距离的理论分析。然后详细介绍了充气过程中推动细胞向前运动的力。最后，通过实验对柔性机器人的运动过程进行了仿真。将理论计算结果与实验结果进行了比较。结果表明，由多个可变形球胞组成的柔性机器人能够以非线性的充放气过程向前运动。
The soft robot consists of several deformable spherical cells. It is a nonlinear system. According to the deflating and inflating action of the spherical cells, the size of each spherical cell can be changed. Thus, the soft robot can move forward. In the paper, the moving process is analyzed in one circular movement with the deflating and inflating modes of each cell. The theoretical analysis of the distance expected is counted. Then the forces on the inflating process are presented in detail, which push the cells to move forward. Lastly, an experiment is shown to emulate the moving process of the soft robot. The theoretical result and the experimental result are compared. It shows that the soft robot that consists of several deformable spherical cells can move forward with the nonlinear inflating and deflating process.