A Simple Free-Fold Test to Measure Bending Stiffness of Slender Soft Actuators
A Simple Free-Fold Test to Measure Bending Stiffness of Slender Soft Actuators
复制标题
测量细长软执行器弯曲刚度的简单自由折叠测试
DOI：
10.1109/lra.2021.3114960
复制
发表时间：
2021
影响因子：
5.2
通讯作者：
Kowalewski, Timothy M.
中科院分区：
文献类型：
--
作者：
McDonald, Gillian J.;Detournay, Emmanuel;Kowalewski, Timothy M.
在预测从机器人与环境接触到屈曲阻力的所有内容时，弯曲刚度的可靠估计对许多软机器人模型至关重要。目前用于预测致动器弯曲刚度的方法依赖于材料特性的高度精确的知识，这对于复合致动器来说是不容易获得的。此外，流体致动器的当前模型通常依赖于压力无关的弯曲刚度，尽管压力在弯曲刚度行为中起着不可忽略的作用。测量致动器刚度的方法通常需要昂贵的仪器来测量或扰动测量实际弯曲刚度所需的运动和力。我们引入了一个简单的自由折叠测试来经验性地估计细长软致动器的弯曲刚度-加压或未加压和复合材料或双金属-这需要从特定机器人姿势的单个图像测量一个距离。由此产生的模型还表明，每单位长度的致动器重量的变化可以用来确定弯曲刚度对致动压力的依赖性。
A reliable estimate for bending stiffness is critical to many soft robot models when predicting everything from robot-environment contact to buckling resistance. Current methods for predicting actuator bending stiffness rely on highly accurate knowledge of material characteristics, which are not trivial to obtain for composite actuators. Additionally, current models for fluidic actuators often depend on a pressure-independent bending stiffness despite pressure playing a non-negligible role in bending stiffness behavior. Methods to measure actuator stiffness often require costly instrumentation to measure or perturb the motions and forces required to measure actual bending stiffness. We introduce a simple free-fold test to empirically estimate the bending stiffness of slender soft actuators—pressurized or unpressurized and composite or homogeneous—which requires the measurement of one distance from a single image of a specific robot pose. The resulting model also shows that the change in actuator weight per unit length can be used to determine the dependence of bending stiffness on actuation pressure.