Modeling the Soft Continuum Robot Based on Large Deflection Theorem

被引：2
|
作者：
Wang, Manrong [1 ,2 ]
Wang, Wenbiao [1 ,2 ]
Qiu, Zhiwei [1 ,2 ]
Zhao, Jinfeng [1 ,2 ]
Wu, Changqu [1 ,2 ]
Cai, Shibo [1 ,2 ]
Bao, Guanjun [1 ,2 ]
机构：
[1] Zhejiang Univ Technol, Coll Mech Engn, Hangzhou, Peoples R China
[2] Zhejiang Univ Technol, Equipment & Adv Proc Technol, Minist Educ & Zhejiang Prov, Hangzhou, Peoples R China
来源：
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE-ROBIO 2021) | 2021年
基金：
中国国家自然科学基金;
关键词：
Large deflection theory; soft robot; pneumatic muscle; modeling; MANIPULATION; KINEMATICS; DYNAMICS;
D O I：
10.1109/ROBIO54168.2021.9739488
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
How to model the dynamics and represent the behavior of soft continuum robot accurately and efficiently has always been a challenging problem. In this paper, a new soft continuum robot dynamic model modeling idea is proposed, that is, the pneumatic soft continuum robot is regarded as a variable-stiffness beam structure when bending. The stiffness of the variable-stiffness beam structure is related to the input air pressure, and a large deflection theorem is employed for force analysis of the variable-stiffness beam. Finally, the soft continuous robot pressure model is used to solve the deflection curve equation. In the experiment, the bending posture of the soft continuum robot obtained by the visual capture system was compared with the simulation results, and the average error of the model was 8.5%
引用
收藏
页码：209 / 214
页数：6
相关论文
共 50 条
  • [31] A Koopman-based residual modeling approach for the control of a soft robot arm
    Bruder, Daniel
    Bombara, David
    Wood, Robert J.
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2025, 44 (03): : 388 - 406
  • [32] Verticalized-Tip Trajectory Tracking of a 3D-Printable Soft Continuum Robot: Enabling Surgical Blood Suction Automation
    Lai, Jiewen
    Huang, Kaicheng
    Lu, Bo
    Zhao, Qingxiang
    Chu, Henry
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2022, 27 (03) : 1545 - 1556
  • [33] Dynamic Modeling of Fiber-Reinforced Soft Manipulator: A Visco-Hyperelastic Material-Based Continuum Mechanics Approach
    Mustaza, Seri Mastura
    Elsayed, Yahya
    Lekakou, Constantina
    Saaj, Chakravarthini
    Fras, Jan
    SOFT ROBOTICS, 2019, 6 (03) : 305 - 317
  • [34] Kinematic Analysis of Soft Continuum Manipulators Based on Sparse Workspace Mapping
    Li, Jing
    Chen, Xiaojiao
    Su, Yinyin
    Wang, Wenping
    Lam, James
    Wang, Zheng
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 7 (02) : 5055 - 5062
  • [35] Inverse Dynamics Model-Based Shape Control of Soft Continuum Finger Robot Using Parametric Curve
    Mbakop, Steeve
    Tagne, Gilles
    Frouin, Marc-Henri
    Melingui, Achille
    Merzouki, Rochdi
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2021, 6 (04) : 8053 - 8060
  • [36] Variable Curvature Modeling Method of Soft Continuum Robots with Constraints
    Liu, Yuwang
    Shi, Wenping
    Chen, Peng
    Cheng, Liang
    Ding, Qing
    Deng, Zhaoyan
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2023, 36 (01)
  • [37] Kinematic Modeling and Control of Variable Curvature Soft Continuum Robots
    Huang, Xinjia
    Zou, Jiang
    Gu, Guoying
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2021, 26 (06) : 3175 - 3185
  • [38] Modal Dynamics and Analysis of a Vertical Stretch-Retractable Continuum Manipulator with Large Deflection
    Wang, Hao
    Gao, Guohua
    Xia, Qixiao
    Zhang, Xuping
    2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, : 6258 - 6264
  • [39] Cosserat-Rod-Based Dynamic Modeling of Soft Slender Robot Interacting With Environment
    Xun, Lingxiao
    Zheng, Gang
    Kruszewski, Alexandre
    IEEE TRANSACTIONS ON ROBOTICS, 2024, 40 : 2811 - 2830
  • [40] Modeling and Control Strategies for Liquid Crystal Elastomer-Based Soft Robot Actuator
    Wu, Jundong
    Wang, Yawu
    Ye, Wenjun
    She, Jinhua
    Su, Chun-Yi
    JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS, 2023, 27 (02) : 235 - 242
12345