On constitutive relations for a rod-based model of a pneu-net bending actuator
On constitutive relations for a rod-based model of a pneu-net bending actuator
复制标题
DOI：
10.1016/j.eml.2016.02.007
复制
发表时间：
2016-09-01
影响因子：
4.7
通讯作者：
O'Reilly, Oliver M.
中科院分区：
文献类型：
--
作者：
de Payrebrune, Kristin M.;O'Reilly, Oliver M.
近年来，人们对软机器人的兴趣激增，导致了由软物质组成的柔性致动器的有趣设计和制造。对这些执行器进行建模以获得其动态的定量估计是具有挑战性的。针对一种常用的柔性驱动柔性机器人手臂，建立了基于杆的柔性机器人手臂模型。该模型基于欧拉的弹性理论，可以说是最简单的模型。通过实验和理论的综合，我们发现，需要准确地捕捉臂的变形的本构关系有很大的不同，从简单的经典关系，弯曲力矩是线性成比例的曲率的变化。本文还提供了一个框架，以评估未来的软机器人驱动器的设计是否可以使用简单的模型。(C)2016爱思唯尔有限公司版权所有
The recent surge of interest in soft robotics has led to interesting designs and fabrication of flexible actuators composed of soft matter. Modeling these actuators to obtain quantitative estimates of their dynamics is challenging. In the present paper, a rod-based model for a popular pneumatically activated soft robot arm is developed. The model is based on Euler's theory of the elastica and is arguably the simplest possible model. Through a synthesis of experiment and theory, we find that the constitutive relations needed to accurately capture the deformation of the arm differ considerably from the simple classical relation that the bending moment is linearly proportional to a change in curvature. The present paper also provides a framework to evaluate whether future soft robot actuator designs can be captured using simple models. (C) 2016 Elsevier Ltd. All rights reserved.