Modeling of a two-degree-of-freedom fiber-reinforced soft pneumatic actuator
Modeling of a two-degree-of-freedom fiber-reinforced soft pneumatic actuator
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DOI：
10.1017/s0263574723001170
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发表时间：
2023-08
期刊：
影响因子：
2.7
通讯作者：
Varell Ferrandy;Indrawanto;F. Ferryanto;A. Sugiharto;Enrico Franco;Arnau Garriga-Casanovas;A. Mahyuddin;F. Rodriguez y Baena;S. Mihradi;Vani Virdyawan
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作者：
Varell Ferrandy;Indrawanto;F. Ferryanto;A. Sugiharto;Enrico Franco;Arnau Garriga-Casanovas;A. Mahyuddin;F. Rodriguez y Baena;S. Mihradi;Vani Virdyawan
摘要纤维缠绕增强体广泛应用于压力流体驱动的柔性机械臂中。然而，每种类型的绕组对具有三个腔室的管状柔性机器人操作器的弯曲运动的具体影响尚未被广泛探索。我们提出了精确的有限元（FE）模拟的发展，并调查螺旋纤维缠绕参数的弯曲运动的两个自由度的三个内部腔室的机械手的效果。我们首先展示了FE模拟的发展，该模拟优化了收敛和计算时间，并精确地匹配了实践中软机器人的行为。与单腔机器人相比，由于复杂的几何形状，模拟三腔设计更具挑战性。然后，我们应用我们的有限元模型来模拟所有的参数变化。我们发现，对于具有恒定螺距的螺旋绕组，腔室的中心越靠近绕组的交叉点，腔室的弯曲刚度越低。为了最小化不同弯曲方向上的弯曲刚度变化，第一腔室的中心与两个螺旋绕组的交叉点之间的最佳角度为0°和12°。减小螺旋绕组的节距或使用其它类型的绕组（即，环形缠绕或六螺旋缠绕）减小了不同弯曲方向上的刚度变化。有限元模拟与实验相比，该模型可以捕捉复杂的弯曲行为的机械手，即使估计往往是不准确的，在较高的弯曲角度。
Abstract Fiber winding reinforcement is widely used in soft robotic manipulators actuated by pressurized fluids. However, the specific effect of each type of winding on the bending motion of a tubular soft robotics manipulator with three chambers has not been explored widely. We present the development of precise finite element (FE) simulations and investigate the effect of helical fiber winding parameters on the bending motion of a two-degree-of-freedom manipulator with three internal chambers. We first show the development of an FE simulation that optimizes convergence and computational time and precisely matches the behavior of soft robots in practice. Compared to single-chamber robots, simulating three-chamber designs is more challenging due to the complex geometry. We then apply our FE model to simulate all the parameter variations. We show that for helical winding with a constant pitch, the closer the center of a chamber is to the intersection of the windings, the lower the bending stiffness of the chamber is. To minimize bending stiffness variation in different bending directions, the optimal angle between the center of the first chamber and the intersection of the two helical windings are 0° and 12°. Reducing the pitch of the helical windings or using other types of windings (i.e., ring winding or six helical winding) reduces the stiffness variation across different bending directions. The FE simulations are compared with experiments showing that the model can capture complex bending behaviors of the manipulator, even though the estimation tends to be less accurate at higher bending angles.