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
  • [21] Cosserat Rod Modeling and Validation for a Soft Continuum Robot with Self-Controllable Variable Curvature
    Wang, Xinran
    Rojas, Nicolas
    2024 IEEE 7TH INTERNATIONAL CONFERENCE ON SOFT ROBOTICS, ROBOSOFT, 2024, : 705 - 710
  • [22] Nonlinear dynamic modeling and model-based AI-driven control of a magnetoactive soft continuum robot in a fluidic environment
    Moezi, Seyed Alireza
    Sedaghati, Ramin
    Rakheja, Subhash
    ISA TRANSACTIONS, 2024, 144 : 245 - 259
  • [23] Continuum modeling of large networks
    Chong, Edwin K. P.
    Estep, Donald
    Hannig, Jan
    INTERNATIONAL JOURNAL OF NUMERICAL MODELLING-ELECTRONIC NETWORKS DEVICES AND FIELDS, 2008, 21 (03) : 169 - 186
  • [24] Design and Kinematic Modeling of a Soft Continuum Telescopic Arm for the Self-Assembly Mechanism of a Modular Robot
    Gomez, Virgilio
    Hernando, Miguel
    Aguado, Esther
    Bajo, Daniel
    Rossi, Claudio
    SOFT ROBOTICS, 2024, 11 (02) : 347 - 360
  • [25] DYNAMIC MODELING FOR A CONTINUUM ROBOT WITH COMPLIANT STRUCTURE
    Guo, Yong
    Kang, Rongjie
    Chen, Lisha
    Dai, Jian
    INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2015, VOL 5A, 2016,
  • [26] Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints
    Wang, Xiang
    Ding, Yue
    Zeng, Lingyun
    Zhu, Chuanxiang
    Wu, Baibo
    Xu, Kai
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2023, 15 (03):
  • [27] A 3-dof parallel continuum robot with large orientation workspace: Modeling, simulation and experiment
    Lei, Yuhang
    Jiang, Ming
    Sugahara, Yusuke
    Takeda, Yukio
    MECHANISM AND MACHINE THEORY, 2025, 206
  • [28] Design and modeling of continuum robot based on virtual-center of motion mechanism
    Li, Guoxin
    Yu, Jingjun
    Tang, Yichao
    Pan, Jie
    Cao, Shengge
    Pei, Xu
    FRONTIERS OF MECHANICAL ENGINEERING, 2023, 18 (02)
  • [29] Design and modeling of continuum robot based on virtual-center of motion mechanism
    Guoxin Li
    Jingjun Yu
    Yichao Tang
    Jie Pan
    Shengge Cao
    Xu Pei
    Frontiers of Mechanical Engineering, 2023, 18
  • [30] Closed-Loop Magnetic Control of Medical Soft Continuum Robots for Deflection
    Wu, Zhiwei
    Zhang, Jinhui
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2024,
12345