In this study, an inhomogeneous Cosserat rod theory is introduced and compared to the conventional homogeneous rod for modeling soft manipulators. The inhomogeneity is addressed by considering the pressure actuation as part of the rod's constitutive laws, resulting in shifting the neutral axis. This shift is investigated for a soft manipulator with three parallel fiber-reinforced actuators. Furthermore, a fiber-reinforced actuator is modeled using nonlinear continuum mechanics to extract the effect of radial pressure on axial deformation and is combined with Cosserat model. Finally, several numerical methods are employed to solve the proposed model and validated by a series of experiments.
翻译：在本研究中,引入了一种不相容的Cosserat棒理论,并将其与传统模拟软操纵器的同质棒理论进行比较。通过将压力振动作为该棒构成法的一部分来解决这一问题,从而改变中性轴。这一转变被调查为一个软操纵器,配有三台平行纤维增强活化器。此外,用非线性连续力学模型来模拟一个纤维增强活化器,以提取辐射压力对轴畸形的影响,并与Cosserat模型相结合。最后,采用若干数字方法解决拟议的模型,并通过一系列实验加以验证。</s>
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