Design, kinematics, and control of a soft spatial fluidic elastomer manipulator
Design, kinematics, and control of a soft spatial fluidic elastomer manipulator
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DOI：
10.1177/0278364915587925
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发表时间：
2016-06-01
影响因子：
9.2
通讯作者：
Rus, Daniela
中科院分区：
文献类型：
--
作者：
Marchese, Andrew D.;Rus, Daniela
介绍了一种能够实现多节段柔性流体弹性体机器人三维自主定位的机器人操作系统。具体地说，我们提出了一种非常软的机器人机械手形态，它完全由低硬度弹性体组成，由加压空气提供动力，并设计为既模块化又耐用。为了了解单个手臂节段的变形，我们开发了一个静态变形模型并进行了实验验证。然后，为了对多节段机械手进行运动学建模，我们采用了与传统的连续体机械手一致的分段常曲率假设。此外，我们为这种新型机械手定义了一套完整的制造工艺，并利用该工艺制造了多种功能的原型。为了给机器人的空间驱动提供动力，实现了大容量的流体驱动气缸阵列，提供连续可变的闭路气体输送。接下来，利用视觉系统的实时数据，我们开发了一种处理和控制算法，该算法生成可实现的运动学曲率轨迹，并沿这些轨迹控制机械手的构形。最后，我们通过实验演示了这种软流体弹性体操作系统提供的新功能，例如在受限的三维环境中进入和前进，以及在闭环控制下符合矢状面内的目标形状配置。
This paper presents a robotic manipulation system capable of autonomously positioning a multi-segment soft fluidic elastomer robot in three dimensions. Specifically, we present an extremely soft robotic manipulator morphology that is composed entirely from low durometer elastomer, powered by pressurized air, and designed to be both modular and durable. To understand the deformation of a single arm segment, we develop and experimentally validate a static deformation model. Then, to kinematically model the multi-segment manipulator, we use a piece-wise constant curvature assumption consistent with more traditional continuum manipulators. In addition, we define a complete fabrication process for this new manipulator and use this process to make multiple functional prototypes. In order to power the robot's spatial actuation, a high capacity fluidic drive cylinder array is implemented, providing continuously variable, closed-circuit gas delivery. Next, using real-time data from a vision system, we develop a processing and control algorithm that generates realizable kinematic curvature trajectories and controls the manipulator's configuration along these trajectories. Lastly, we experimentally demonstrate new capabilities offered by this soft fluidic elastomer manipulation system such as entering and advancing through confined three-dimensional environments as well as conforming to goal shape-configurations within a sagittal plane under closed-loop control.