Kinematics and statics of eccentric soft bending actuators with external payloads
文献类型：期刊论文
| 作者 | Chen LS( 陈丽莎)2; Dai JS(戴建生)1; Yang CH(杨铖浩)4,5; Kang RJ(康荣杰)5; Branson, David T.3 |
| 刊名 | Mechanism and Machine Theory
 |
| 出版日期 | 2019 |
| 卷号 | 139页码:526-541 |
| 关键词 | Eccentric soft bending actuators Screw theory Statics model Parameters optimization |
| ISSN号 | 0094-114X |
| 产权排序 | 1 |
| 英文摘要 | Soft bending actuators, born with the considerable capacity of structural flexibility and environmental adaptability, have been widely favored for years. However, the highly nonlinear coupling between force and deformation in such robots are very complex, especially considering the external payloads. This paper puts forward a concept of eccentric soft bending actuators (ESBAs)that can exhibit different output characteristics by modifying the geometric parameters. A virtual trajectory based kinematic model is introduced to describe the deformation of ESBAs so that the screw theory based product of exponentials (POE)formula is applied to the analysis of such soft tentacle-like structures for the first time. Following this, the static model takes the input pressure, external payloads, and material parameters into account by utilizing the principle of minimum potential energy, making a generalized mathematical expression. The proposed model is then verified via finite element methods (FEM), and finally through experiments. An application example shows that the Particle Swarm Optimization (PSO)is introduced to find appropriate geometric parameters to make an ESBA have maximum stiffness. |
| WOS关键词 | CONTINUUM ROBOTS ; SILICONE-RUBBER ; DESIGN ; FABRICATION ; DYNAMICS ; MODELS |
| 资助项目 | National Key R&D Program of China[2018YFB1304600] ; Natural Science Foundation of China[51875393] ; Natural Science Foundation of China[51605329] ; Natural Science Foundation of China[51535008] ; Natural Science Foundation of China[51721003] ; International Collaboration Program[B16034] ; State Key Laboratory of Robotics Foundation-China[2019-O015] ; Tianjin Municipal Science and Technology Department Program[17JCQNJC03600] ; Engineering and Physical Sciences Research Council (EPSRC)[EP/N022505/1] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000470687200030 |
| 资助机构 | National Key R&D Program of China ; Natural Science Foundation of China ; International Collaboration Program ; State Key Laboratory of Robotics Foundation-China ; Tianjin Municipal Science and Technology Department Program ; Engineering and Physical Sciences Research Council (EPSRC) |
| 源URL | [http://ir.sia.cn/handle/173321/24719]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Kang RJ(康荣杰) |
| 作者单位 | 1.Centre for Robotics Research, King's College London, United Kingdom 2.School of Mechanical Engineering, Tianjin Polytechnic University, China 3.Faculty of Engineering, University of Nottingham, United Kingdom 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China 5.Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Centre for Advanced Mechanisms and Robotics, Tianjin University, China |
| 推荐引用方式 GB/T 7714 | Chen LS,Dai JS,Yang CH,et al. Kinematics and statics of eccentric soft bending actuators with external payloads[J]. Mechanism and Machine Theory,2019,139:526-541. |
| APA | Chen LS,Dai JS,Yang CH,Kang RJ,&Branson, David T..(2019).Kinematics and statics of eccentric soft bending actuators with external payloads.Mechanism and Machine Theory,139,526-541. |
| MLA | Chen LS,et al."Kinematics and statics of eccentric soft bending actuators with external payloads".Mechanism and Machine Theory 139(2019):526-541. |
入库方式： OAI收割
来源：沈阳自动化研究所
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