| Kinematics and statics of eccentric soft bending actuators with external payloads | |
| Yang CH(杨铖浩)1,2; Kang RJ(康荣杰)1; Branson, David T.3; Chen LS( 陈丽莎)4; Dai JS(戴建生)5 | |
| Department | 空间自动化技术研究室 |
| Source Publication | Mechanism and Machine Theory
 |
| ISSN | 0094-114X |
| 2019 | |
| Volume | 139Pages:526-541 |
| Indexed By | SCI ; EI |
| EI Accession number | 20192206980491 |
| WOS ID | WOS:000470687200030 |
| Contribution Rank | 1 |
| Funding Organization | 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) |
| Keyword | Eccentric soft bending actuators Screw theory Statics model Parameters optimization |
| Abstract | 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. |
| Language | 英语 |
| WOS Subject | Engineering, Mechanical |
| WOS Keyword | CONTINUUM ROBOTS ; SILICONE-RUBBER ; DESIGN ; FABRICATION ; DYNAMICS ; MODELS |
| WOS Research Area | Engineering |
| Funding Project | 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] |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/24719 |
| Collection | 空间自动化技术研究室 |
| Corresponding Author | Kang RJ(康荣杰) |
| Affiliation | 1.Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Centre for Advanced Mechanisms and Robotics, Tianjin University, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China 3.Faculty of Engineering, University of Nottingham, United Kingdom 4.School of Mechanical Engineering, Tianjin Polytechnic University, China 5.Centre for Robotics Research, King's College London, United Kingdom |
| Recommended Citation GB/T 7714 | Yang CH,Kang RJ,Branson, David T.,et al. Kinematics and statics of eccentric soft bending actuators with external payloads[J]. Mechanism and Machine Theory,2019,139:526-541. |
| APA | Yang CH,Kang RJ,Branson, David T.,Chen LS,&Dai JS.(2019).Kinematics and statics of eccentric soft bending actuators with external payloads.Mechanism and Machine Theory,139,526-541. |
| MLA | Yang CH,et al."Kinematics and statics of eccentric soft bending actuators with external payloads".Mechanism and Machine Theory 139(2019):526-541. |
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| Kinematics and stati（3360KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | View Download | |
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