Design Techniques of Soft Robot Arms Based on Mechanics Metamaterials

被引：0
|
作者：
Cheng J. [1 ]
Dai N. [1 ]
Guo P. [1 ]
Xiong J. [1 ]
Ye S. [1 ]
Cheng X. [1 ]
机构：
[1] College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2023年 / 34卷 / 16期
关键词：
deformation mathematical model; deformation prediction model; mechanics metamaterial; soft robot arm;
D O I：
10.3969/j.issn.1004-132X.2023.16.002
中图分类号：
学科分类号：
摘要：
Based on mechanics metamaterials, the soft robot arm might realize multiple bending motions through the deployment design of mechanics metamaterials. In order to investigate the deformation characteristics of this kind of soft robot arms, based on the analysis of the structure of the soft robot arms and the driving principle, a mathematical model of voxels deformation was established through the piecewise constant curvature hypothesis. At the same time, according to the bending characteristics of soft robot arm units, single-section and multi-section soft robot arm deformation prediction model were proposed. Finally, the effectiveness of the deformation prediction model was verified by the physical experiments, and the bending of more than +90° was completed, the environment around the end was explored, which might be applied to the inspection of complex and narrow spaces. © 2023 China Mechanical Engineering Magazine Office. All rights reserved.
引用
收藏
页码：1900 / 1906
页数：6
相关论文
共 22 条
  • [1] ZHANG J, LIU L, CHEN Y, Et al., Fiber-reinforced Soft Polymeric Manipulator with Smart Motion Scaling and Stiffness Tunability, Cell Reports Physical Science, 2, 10, (2021)
  • [2] BERTHET-RAYNE P, GRAS G, LEIBRANDT K, Et al., The i2Snake Robotic Platform for Endoscopic Surgery[J], Annals of Biomedical Engineering, 46, 10, pp. 1663-1675, (2018)
  • [3] QIAO Guanyu, Research on Trajectory Tracking Control, Test and Flexible Force Control for Space Robot Manipulator, (2018)
  • [4] LI Kai, ZHANG Yao, CHEN Yujun, Simulation and Analysis of On-orbit Operations with Flexible Space Manipulators[J], Aerospace Control and Application, 44, 5, pp. 60-69, (2018)
  • [5] JIANG H, WANG Z, LIU X, Et al., A Two-level Approach for Solving the Inverse Kinematics of an Extensible Soft Arm Considering Viscoelastic Behavior [C], 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 6127-6133, (2017)
  • [6] QIN G, JI A, CHENG Y, Et al., A Snake-inspired Layer-driven Continuum Robot [J], Soft Robotics, 9, 4, pp. 788-797, (2022)
  • [7] RUNCIMAN M, DARZI A, MYLONAS G P., Soft Robotics in Minimally Invasive Surgery [J], Soft Robotics, 6, 4, pp. 423-443, (2019)
  • [8] LIAO B, ZANG H, CHEN M, Et al., Soft Rod-climbing Robot Inspired by Winding Locomotion of Snake[J], Soft Robotics, 7, 4, pp. 500-511, (2020)
  • [9] ROBERTSON M A, PAIK J., New Soft Robots really Suck: Vacuum-powered Systems Empower Diverse Capabilities, Science Robot, 2, 9, (2017)
  • [10] DEASHAPRIYA K P, SAMPATH PAG, WI-JEKOON W, Et al., Biomimetic Flexible Robot arm Design and Kinematic Analysis of a Novel Flexible Robot arm, 2016 Moratuwa Engineering Research Conference (MERCon), pp. 385-390, (2016)
123