Design and Analysis of Soft Manipulator Teleoperation Systems

被引：0
|
作者：
Yao J. [1 ]
Chen X. [1 ]
Chen J. [1 ]
Wei C. [1 ]
Zhang S. [1 ]
Li H. [1 ]
Zhao Y. [1 ]
机构：
[1] School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, Hebei
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2020年 / 31卷 / 16期
关键词：
Gesture mapping; Mechanics model; Soft manipulator; Teleoperation;
D O I：
10.3969/j.issn.1004-132X.2020.16.009
中图分类号：
学科分类号：
摘要：
Aiming at the requirements of pneumatic soft manipulators working in remote unstructured environments, a teleoperation system of pneumatic soft manipulators was built. Based on the principle of "fast pneumatic network" and modular disassembly, a flexible bending actuator was designed and manufactured. A hand-like flexible manipulator was assembled according to the experimental requirements. The mechanics model of the soft actuator was established based on Yeoh model, and was revised by simulation analysis, which provided a theoretical basis for the control of the soft actuator. The architecture of the teleoperation system was designed, the driving mode and control strategy of the pneumatic soft manipulators were put forward. The client software interface was created in the C# windows application. Based on skinning technology, the soft actuator was modeled in 3D Max software, and a virtual working scene was built in Unity3D. The motion control of the soft manipulators and the collision and picking of the target objects were realized by remote feedback information through script programming. Experiments for finding the relationship between the bending angle of the soft actuator and pressure were carried out to verify the accuracy of the analytics mechanics model. And the teleoperation gesture mapping experiments were carried out to analyze the feasibility of the teleoperation systems, and the further research and applications were discussed. © 2020, China Mechanical Engineering Magazine Office. All right reserved.
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页码：1968 / 1977
页数：9
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