Experimentally Identified Models of McKibben Soft Actuators as Primary Movers and Passive Structures
Experimentally Identified Models of McKibben Soft Actuators as Primary Movers and Passive Structures
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作为原动机和被动结构的 McKibben 软执行器的实验识别模型
DOI：
10.1115/1.4051019
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Mengüç, Yiğit
中科院分区：
文献类型：
--
作者：
Olson, Gina;Manjarrez, Holly;Adams, Julie A.;Mengüç, Yiğit
软机器人将身体和驱动结合在一起，从诱导运动的相同元素形成它们的结构。软致动器通常被建模或表征为主要推动者，但其作为支撑结构的第二作用在正常致动之外引入应变-压力组合。本文探讨了一个更完整的一套可能的应变-压力组合的麦吉本致动器，包括被动或非加压，变形，加压的延伸和压缩的加压致动器超过最大致动应变。每个区域进行了实验研究，并确定了经验的力-位移-压力关系。特别关注的是确保经验关系是一致的致动器的应变压力区域之间的边界。所提出的方法被应用到七个McKibben致动器的设计，跨越壁厚，外壳材料和致动器直径的变化。实证结果表明，最大收缩应变和被动延伸所需的力之间的权衡。结果还表明，更硬的弹性体需要极大的压力增加来收缩，而最大实现力没有补偿性增加。经验力-位移-压力模型的开发，为每个变量在所有的研究应变-压力区域，使未来的设计变化研究的软机器人，使用执行器作为结构。
Soft robots join body and actuation, forming their structure from the same elements that induce motion. Soft actuators are commonly modeled or characterized as primary movers, but their second role as support structure introduces strain–pressure combinations outside of normal actuation. This article examines a more complete set of possible strain–pressure combinations for McKibben actuators, including passive or unpressurized, deformation, pressurized extension and compression of a pressurized actuator beyond the maximum actuation strain. Each region is investigated experimentally, and empirical force–displacement–pressure relationships are identified. Particular focus is placed on ensuring that empirical relationships are consistent at boundaries between an actuator’s strain–pressure regions. The presented methodology is applied to seven McKibben actuator designs, which span variations in wall thickness, enclosure material, and actuator diameter. Empirical results demonstrate a trade-off between maximum contraction strain and force required to passively extend. The results also show that stiffer elastomers require an extreme increase in pressure to contract without a compensatory increase in maximum achieved force. Empirical force–displacement–pressure models were developed for each variant across all the studied strain–pressure regions, enabling future design variation studies for soft robots that use actuators as structures.
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影响因子：
25
作者：
Hawkes, Elliot W.;Blumenschein, Laura H.;Okamura, Allison M.
通讯作者：
Okamura, Allison M.
DOI：
10.1115/1.4029705
发表时间：
2015-11
期刊：
Journal of Mechanisms and Robotics
影响因子：
--
作者：
Girish Krishnan;Joshua Bishop-Moser;Charles J. Kim;S. Kota
通讯作者：
Girish Krishnan;Joshua Bishop-Moser;Charles J. Kim;S. Kota
McKibben 收缩气动肌肉执行器的基于结构的高效模型：收缩 PMA 行为的完整描述
DOI：
--
发表时间：
2017
期刊：
影响因子：
--
作者：
A. Al;S. Nefti;S. Davis
通讯作者：
S. Davis
DOI：
10.1177/0278364919880259
发表时间：
2019-10
期刊：
The International Journal of Robotics Research
影响因子：
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作者：
G. Olson;Scott Chow;A. Nicolai;C. Branyan;Geoffrey A. Hollinger;Y. Mengüç
通讯作者：
G. Olson;Scott Chow;A. Nicolai;C. Branyan;Geoffrey A. Hollinger;Y. Mengüç