Bending Deformation Prediction Method of Soft Actuators with Pneumatic Networks

被引：10
|
作者：
Fan X. [1 ]
Dai N. [1 ]
Wang H. [1 ]
Ding L. [1 ]
Xie S. [1 ]
机构：
[1] College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2020年 / 31卷 / 09期
关键词：
Bending characteristic; Bending deformation prediction; Mathematical model; Multi-chamber actuator; Pneumatic soft actuator; Soft robot;
D O I：
10.3969/j.issn.1004-132X.2020.09.013
中图分类号：
学科分类号：
摘要：
As the key components of the soft robot, the pneumatic soft actuators possessed the property of bending motions under the action of air pressure. However, there were lack of proper methods to the research of bending deformation of the actuators. Firstly, based on the analysis of the bending deformation principles of the pneumatic networks with soft actuators, the mathematical model of the single-airbag bending angles was built and the bending characteristics of the soft actuators was analyzed. Secondly, the bending deformation prediction model of the single-chamber and multi-chamber soft actuators was set up. Finally, the availability of the bending deformation prediction model was verified via the finite element simulations and physical experiments respectively. © 2020, China Mechanical Engineering Magazine Office. All right reserved.
引用
收藏
页码：1108 / 1114
页数：6
相关论文
共 23 条
  • [1] MICHAEL W, TRUBY R L, DANIEL J, Et al., An Integrated Design and Fabrication Strategy for Entirely Soft, Autonomous Robots, Nature, 536, 7617, pp. 451-460, (2016)
  • [2] ONAL C D, RUS D., Autonomous Undulatory Serpentine Locomotion Utilizing Body Dynamics of a Fluidic Soft Robot, Bioinspiration & Biomimetics, 8, 2, (2013)
  • [3] ROLF M, STEIL J J., Constant Curvature Continuum Kinematics as Fast Approximate Model for the Bionic Handling Assistant, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3440-3446, (2012)
  • [4] ILIEVSKI F, MAZZEO A D, SHEPHERD R F, Et al., Soft Rbotics for Chemists, Angewandte Chemie, 123, 8, pp. 1930-1935, (2015)
  • [5] RUS D, TOLLEY M T., Design, Fabrication and Control of Soft Robots, Nature, 521, 7553, pp. 467-475, (2015)
  • [6] LI Tiefeng, LI Guorui, LIANG Yiming, Et al., Review of Materials and Structures in Soft Robotics, Chinese Journal of Theoretical and Applied Mechanics, 48, 4, pp. 756-766, (2016)
  • [7] SEOK S, ONAL C D, CHO K, Et al., Meshworm: a Peristaltic Soft Robot with Antagonistic Nickel Titanium Coil Actuators, IEEE/ASME Transactions on Mechatronics, 18, 5, (2012)
  • [8] WANG H, CHEN J, LAU H, Et al., Motion Planning Based on Learning from Demonstration for Multiple-segment Flexible Robots Actuated by Electroactive Polymers, IEEE Robotics and Automation Letters, 1, 1, pp. 391-398, (2016)
  • [9] RENDA F, CIANCHETTI M, GIORELLI M, Et al., A 3D Steady-state Model of a Tendon-driven Continuum Soft Manipulator Inspired by the Octopus Arm, Bioinspiration & Biomimetics, 7, 2, (2012)
  • [10] MOSADEGH B, POLYGERINOS P, KEPLINGER C, Et al., Soft Robotics: Pneumatic Networks for Soft Robotics that Actuate Rapidly, Advanced Functional Materials, 24, 15, pp. 2109-2109, (2014)
123