A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation
A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation
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DOI：
10.1109/lra.2020.2985620
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发表时间：
2020-07-01
影响因子：
5.2
通讯作者：
Boyer, Frederic
中科院分区：
文献类型：
--
作者：
Renda, Federico;Armanini, Costanza;Boyer, Frederic
提出了一种新的软机械手变应变参数化方法，将连续Cosserat杆模型离散为一组有限的应变基函数。这种方法将最近提出的分段恒应变法推广到非恒定应变截面的情况。对于它的前身，离散模型基于连续横截面之间的相对姿态，并以其最小矩阵形式(类拉格朗日)提供。将该变应变模型应用于肌腱和/或流体驱动软机械臂的静态平衡。结果表明，对于特定的应变基础选择，利用执行器的几何形状，系统是平凡的，为控制和执行器路径设计提供了有用的工具。通过与全连续Cosserat模型的比较，证明了该方法的可行性。
We propose a novel variable-strain parametrization for soft manipulators, which discretizes the continuous Cosserat rod model onto a finite set of strain basis functions. This approach generalizes the recently proposed piecewise-constant strain method to the case of non-constant strain sections. As for its predecessor, the discrete model is based on the relative pose between consecutive cross-sections and is provided in its minimal matrix form (Lagrangian-like). The novel variable-strain model is applied to the static equilibrium of tendon and/or fluidic actuated soft manipulators. It is shown that, for a specific choice of strain basis, exploiting the actuator geometry, the system is trivialized, providing useful tools for control and actuator routing design. Comparisons with the full continuous Cosserat model demonstrate the feasibility of the approach.