SIA OpenIR  > 空间自动化技术研究室
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 PublicationMechanism and Machine Theory
ISSN0094-114X
2019
Volume139Pages:526-541
Indexed BySCI ; EI
EI Accession number20192206980491
WOS IDWOS:000470687200030
Contribution Rank1
Funding OrganizationNational 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)
KeywordEccentric soft bending actuators Screw theory Statics model Parameters optimization
AbstractSoft 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 SubjectEngineering, Mechanical
WOS KeywordCONTINUUM ROBOTS ; SILICONE-RUBBER ; DESIGN ; FABRICATION ; DYNAMICS ; MODELS
WOS Research AreaEngineering
Funding ProjectNational 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]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24719
Collection空间自动化技术研究室
Corresponding AuthorKang RJ(康荣杰)
Affiliation1.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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