Nonlinear dynamic modeling on multi-spherical modular soft robots
Nonlinear dynamic modeling on multi-spherical modular soft robots
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DOI：
10.1007/s11071-014-1480-4
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发表时间：
2014-10-01
影响因子：
5.6
通讯作者：
Gao, Hanwei
中科院分区：
文献类型：
--
作者：
Fei, Yanqiong;Gao, Hanwei
构建了一种由多个可变形球面单元组成的软机器人。根据球形电池的放气作用和充气作用，可以改变每个球形电池的大小和形状。因此，软机器人可以在狭窄复杂的通道中移动。本文构建了一种模块化的软机器人。描述了每个电池的充气半径与充气时间()之间的非线性关系，以控制球形电池的动作。根据电池的放气和充气模式，分析了电池的非线性动态运动过程。对前向运动进行了理论分析。然后，描述了两个特殊的位置，并详细介绍了其运动条件。最后，对三个球形单元进行了仿真和实验，对软机器人的运动过程进行了仿真。结果表明，由多个可变形球面模块组成的模块化软机器人能够以非线性动态充气放气过程前进。
A soft robot, which consists of multi-deformable spherical cells, is constructed. According to the deflating action and the inflating action of the spherical cells, the size and the shape of each spherical cell can be changed. Thus, the soft robot can move in a narrow complicated passage. In the paper, a modular soft robot is built. The nonlinear relationship between the inflation radius ( of each cell and the inflation time ( is described to control the action of the spherical cell. The nonlinear dynamic moving process is analyzed with the deflating and inflating modes of each cell. The theoretical analysis of the forward locomotion is counted. Then, two special positions are described, and the moving conditions are presented in details. Last, a simulation and an experiment of three spherical cells are shown to emulate the moving process of the soft robot. It shows that the modular soft robot consisting of multi-deformable spherical modules can move forward with the nonlinear dynamic inflating and deflating process.