执行机构
可控性
模块化设计
刚度
非线性系统
软机器人
计算机科学
参数统计
机器人
弯曲
机械工程
模拟
工程类
控制理论(社会学)
结构工程
人工智能
物理
统计
数学
控制(管理)
量子力学
应用数学
操作系统
作者
Yang Yang,Jiewen Lai,Chaochao Xu,Zhiguo He,Pengcheng Jiao,Hongliang Ren
出处
期刊:Soft robotics
[Mary Ann Liebert]
日期:2024-02-01
卷期号:11 (1): 57-69
被引量:1
标识
DOI:10.1089/soro.2021.0179
摘要
There has been a growing need for soft robots operating various force-sensitive tasks due to their environmental adaptability, satisfactory controllability, and nonlinear mobility unique from rigid robots. It is of desire to further study the system instability and strongly nonlinear interaction phenomenon that are the main influence factors to the actuations of lightweight soft actuators. In this study, we present a design principle on lightweight pneumatically elastic backbone structure (PEBS) with the modular construction for soft actuators, which contains a backbone printed as one piece and a common strip balloon. We build a prototype of a lightweight (<80 g) soft actuator, which can perform bending motions with satisfactory output forces (∼20 times self-weight). Experiments are conducted on the bending effects generated by interactions between the hyperelastic inner balloon and the elastic backbone. We investigated the nonlinear interaction and system instability experimentally, numerically, and parametrically. To overcome them, we further derived a theoretical nonlinear model and a numerical model. Satisfactory agreements are obtained between the numerical, theoretical, and experimental results. The accuracy of the numerical model is fully validated. Parametric studies are conducted on the backbone geometry and stiffness, balloon stiffness, thickness, and diameter. The accurate controllability, operation safety, modularization ability, and collaborative ability of the PEBS are validated by designing PEBS into a soft laryngoscope, a modularized PEBS library for a robotic arm, and a PEBS system that can operate remote surgery. The reported work provides a further applicability potential of soft robotics studies.
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