Experimental enriched beam model for robust simulation of soft material robotic systems

用于软材料机器人系统鲁棒仿真的实验丰富光束模型

基本信息

项目摘要

A recent subject of research are soft material robots that are able to perform nearly unrestricted, continuous deformations and facilitates new opportunities of actuation, control and sensing. Their ability to adapt to obstacles, safely handle fragile objects and easily change their motion behavior makes them very promising for applications in healthcare, human-robot interactions and rescue operations. However, to describe their characteristics and deformation behavior, enriched models are indispensable, which account for the elastic structure, the complex material behavior and the continuous and large deformations of the robot. Hence, the objective of this research project is the development of a robust mathematical model that is valid for arbitrary soft material robots and covers interactions with the surrounding and dynamical effects. For computational efficiency, the promising Cosserat beam approach will be adopted, for which the structure of the robot is reduced to a flexible material curve in space. With regard to the models applicability and validity, the following research questions will be addressed within the research project:1. Which effects of complex soft material robots in operation needs to be captured and how can they appropriately be addressed by the Cosserat beam approach?2. What is the correlation between the actuation of the soft material robot and the related parameter in the model, and is a superposition valid?3. Due to the simplified robot structure, how do contact forces and external loads need to be included in the Cosserat beam model to cover local interaction phenomena? 4. How significant is the error of the Cosserat beam model compared to models which represent the robot structure in more detail?To answer these research questions, numerical investigations and experimental analyses on fabricated pneumatic actuated soft material robots will be conducted. The fabricated robots differ in their deformation behavior (bending, twist, elongation) and in the complexity of their structure. Basic tests help to identify the correlation between the actuation induced deformation and the related model parameters. Furthermore, additional analyzes of the robot’s behavior under applied loads and contacts help to establish the Cosserat beam approach. Throughout the project, the model’s validity will be examined and results compared to corresponding experiments. To clarify the accuracy and limits of the model, the Cosserat beam approach will be compared to geometrical more detailed finite element models.As a result of this project, a parameterized beam model for arbitrary soft material robots will be established and applied to special prototypes. Furthermore, the numerical work and experimental analyses constitute a valuable contribution to a more holistic understanding of soft material robots, their special characteristics and behavior during operation.
最近的研究主题是软材料机器人,能够执行几乎不受限制的连续变形,并促进新的驱动,控制和传感的机会。它们能够适应障碍物,安全地处理脆弱的物体并轻松改变其运动行为,这使得它们在医疗保健,人机交互和救援行动中的应用非常有前景。然而,为了描述它们的特性和变形行为,丰富的模型是必不可少的,这些模型考虑了机器人的弹性结构、复杂的材料行为和连续的大变形。因此,本研究项目的目标是开发一个强大的数学模型,该模型适用于任意软材料机器人,并涵盖与周围环境和动态效应的相互作用。为了提高计算效率,将采用有前途的Cosserat梁方法,将机器人的结构简化为空间中的柔性材料曲线。关于模型的适用性和有效性,研究项目将解决以下研究问题:1。复杂软材料机器人在运行中的哪些影响需要被捕获,以及如何通过Cosserat梁方法适当地解决这些影响?2.软材料机器人的驱动与模型中的相关参数之间的相关性如何,叠加是否有效?3.由于简化了机器人结构,接触力和外部载荷如何需要包括在Cosserat梁模型中,以涵盖局部相互作用现象?4. Cosserat梁模型与更详细地表示机器人结构的模型相比,误差有多大?为了回答这些研究问题,数值研究和实验分析制造气动驱动的软材料机器人将进行。所制造的机器人在其变形行为(弯曲,扭曲,伸长)和其结构的复杂性方面有所不同。基本的测试有助于识别致动引起的变形和相关的模型参数之间的相关性。此外,附加的分析机器人的行为下施加的负载和接触有助于建立Cosserat梁的方法。在整个项目中,将检查模型的有效性,并将结果与相应的实验进行比较。为了阐明模型的准确性和局限性,Cosserat梁方法将与几何上更详细的有限元模型进行比较。作为该项目的结果,将建立用于任意软材料机器人的参数化梁模型,并将其应用于特殊原型。此外,数值计算和实验分析为更全面地了解软材料机器人及其在操作过程中的特殊特性和行为做出了宝贵的贡献。

项目成果

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Professorin Dr.-Ing. Kristin de Payrebrune其他文献

Professorin Dr.-Ing. Kristin de Payrebrune的其他文献

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{{ truncateString('Professorin Dr.-Ing. Kristin de Payrebrune', 18)}}的其他基金

Modeling and Development of a Climbing Soft Robot
攀爬软体机器人的建模与开发
  • 批准号:
    258667817
  • 财政年份:
    2014
  • 资助金额:
    --
  • 项目类别:
    Research Fellowships
AI based design assistance system for soft robotics -Optimizing complex systems based on the smallest design entity
基于人工智能的软机器人设计辅助系统 - 基于最小设计实体优化复杂系统
  • 批准号:
    501861263
  • 财政年份:
  • 资助金额:
    --
  • 项目类别:
    Priority Programmes

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基于Quantaloid-enriched范畴的量化Domain理论研究
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    2015
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    18.0 万元
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    青年科学基金项目

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