Motion and shape control of soft robots and materials
Motion and shape control of soft robots and materials
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DOI：
10.1007/s11071-021-06272-y
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发表时间：
2021-03
影响因子：
5.6
通讯作者：
A. Shabana;A. E. Eldeeb
中科院分区：
文献类型：
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作者：
A. Shabana;A. E. Eldeeb
提出了一种基于连续介质的软机器人与材料(SRM)运动和形状同时控制方法。这种方法允许系统地计算任意期望的SRM运动和几何形状的驱动力。为了同时控制运动和形状，利用绝对节点坐标公式(ANCF)的位置和位置梯度来建立流变指定轨迹和形状约束方程，并在逆动力学过程中用于定义驱动控制力。与刚体系统的控制不同，SRM运动/形状控制需要多个独立的驱动力等于关节坐标的数量，需要对广义控制力进行不同的解释，以便正确定义驱动力。虽然这些运动/形状控制力的定义是使用在开关磁阻电机控制中常用的气压驱动来演示的，但是所提出的方法也可以应用于其他类型的开关磁阻电机驱动。概述了在空间相关压力和恒定压力两种情况下确定驱动压力的方法。用Nanson公式考虑了表面几何形状变化对驱动压力的影响。数值结果表明，利用新的驱动力定义，可以同时控制运动和形状。
A continuum-based approach for simultaneously controlling the motion and shape of soft robots and materials (SRM) is proposed. This approach allows for systematically computing theactuation forcesfor arbitrary desired SRM motion and geometry. In order to control both motion and shape, the position andposition gradientsof theabsolute nodal coordinate formulation(ANCF) are used to formulate rheonomic specified trajectory and shape constraint equations, used in an inverse dynamics procedure to define the actuation control forces. Unlike control of rigid-body systems which requires a number of independent actuation forces equal to the number of the joint coordinates, the SRM motion/shape control leads to generalized control forces which need to be interpreted differently in order to properly define the actuation forces. While the definition of these motion/shape control forces is demonstrated usingair pressure actuationcommonly used in the SRM control, the proposed procedure can be applied to other SRM actuation types. The approaches for determining the actuation pressure in the two cases of space-dependent and constant pressures are outlined. Effect of the change in the surface geometry on the actuation pressure is accounted for usingNanson’s formula. The obtained numerical results demonstrate that the motion and shape can be simultaneously controlled using the new actuation force definitions.