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
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