Paper Info
Title
A Kinematic Model for Soft Robot Based on Double Laminate Plate Theory
Abstract
The flexibility and large deformation of soft robots make them have excellent application prospects, but these characteristics also complicate their kinematic model. Although the piecewise constant curvature method can accurately describe the motions, it requires a huge integral operation and generally is only applicable to rope-type soft robot. The finite element models and the empirical models based on pattern recognition also usually require a huge computing cost. In this work, a kinematics model based on double laminate plate theory was discussed to characterize the relationship between the overall deformation and external environmental factors for soft robots whose motions were achieved by the different deformation coefficients of the upper and lower parts. Due to this motion form is common in soft robots, such as most of fluid-driven and environmentally responsive polymer driven soft robots, this model has a relatively wide applicability. To verify the feasibility of the model for fluid-driven robots, a sample was made and tested, and the result showed that the model possibly could be used. The biggest advantage of the plate model is the low computational cost, so it can provide design reference quickly. Therefore, the plate model deserves further research in the future work.
Year
DOI
Venue
2018
10.1109/ROBIO.2018.8664747
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Keywords
Field
DocType
Soft robotics,Strain,Robot kinematics,Computational modeling,Kinematics,Fluids
Constant curvature,Kinematics,Control theory,Robot kinematics,Finite element method,Soft robotics,Plate theory,Engineering,Robot,Piecewise
Conference
ISBN
Citations 
PageRank 
978-1-7281-0377-8
0
0.34
References 
Authors
0
5
Name
Order
Citations
PageRank
Zhang Yongrou100.34
Da Wang295.62
Xuefeng Zhou33712.04
Cheng Taobo400.34
Dan Huang5559.44