Discrete Cosserat Approach for Closed-Chain Soft Robots: Application to the Fin-Ray Finger

被引：33

作者：

Armanini, Costanza ^{[1
]}

Hussain, Irfan ^{[1
,2
]}

Iqbal, Muhammad Zubair ^{[3
]}

Gan, Dongming ^{[4
]}

Prattichizzo, Domenico ^{[3
,5
]}

Renda, Federico ^{[1
,2
]}

机构：

[1] Khalifa Univ Sci & Technol, Dept Mech Engn, Abu Dhabi, U Arab Emirates

[2] Khalifa Univ Sci & Technol, Khalifa Univ, Ctr Autonomous Robot Syst KUCARS, Abu Dhabi, U Arab Emirates

[3] Univ Siena, Dipartimento Ingn Informaz, I-53100 Siena, Italy

[4] Purdue Univ, W Lafayette, IN 47907 USA

[5] Ist Italiano Tecnol, Dept Adv Robot, I-16163 Genoa, Italy

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2021年 / 37卷 / 06期

关键词：

Robots; Strain; Soft robotics; Mathematical model; Jacobian matrices; Geometry; Shape; Manipulators end effectors; Parallel robots;

D O I：

10.1109/TRO.2021.3075643

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The Fin-Ray principle, inspired by the physiology of fish rays, represents the foundation of a large number of robotic devices. However, despite their popularity, there is not any ad-hoc theoretical model technique for the analysis of this family of fingers. This lack is the main motivation of the presented work, which provides the mathematical modeling, analysis, and prototyping of a closed-chain Fin-Ray finger. In this scenario, the contribution of this article is twofold. At one end, we provide a general discrete Cosserat approach for the modeling of closed-chain soft robots which shares the geometrical structure of the rigid robotics counterpart. On the other end, the approach is employed to explore the family of Fin-Ray effect fingers. Finally, an improved design, which is able to conform to contacting surfaces, while maintaining stiffness out of its grasping plane, is fabricated and its performances are compared to those of a previously proposed prototype.

引用

页码：2083 / 2098

页数：16