Roboticists have been seeking to address this situation in recent years through the use of soft robots. Unfortunately, identifying appropriate models for the complete analysis and investigation of soft robots for design and control purposes can be problematic. This paper seeks to address this challenge by proposing two complementary modeling techniques for a particular type of soft robotic actuator known as a Fiber-Reinforced Elastomeric Enclosure (FREE). We propose that researchers can leverage multiple models to fill gaps in the understanding of the behavior of soft robots. We present and evaluate both a dynamic, lumped-parameter model and a finite element model to extend understanding of the practicability of FREEs in soft robotic applications. The results with the lumped-parameter model demonstrate that it predicts the actual rotational motion of a FREE with at most 4% error when a closed-loop controller is embedded in the system. Additionally, finite element analysis was used to study FREE design parameters as well as the workspace achieved with a module comprised of multiple FREEs. Our finite element results indicate that variations in the material properties of the elastic enclosure of a FREE are more significant than variations in fiber properties. Finally, finite element results show that a 30-degree difference in winding angle dramatically alters the shape of the workspace generated by four FREEs assembled into a module. Concludingly, comments are made about the relative advantages and limitations of lumped-parameter and finite element models of FREEs and FREE modules in providing useful insights into their behavior.
翻译:近几年来,机器人一直在寻求通过使用软机器人来解决这种情况。 不幸的是,确定用于为设计和控制目的全面分析和调查软机器人的适当模型可能会有问题。本文件试图应对这一挑战,为此建议为一种特定类型的软机器人动作器(称为Fiber-Reinformed Eastomic 附文(FFREE))提供两种互补模型技术。我们提议,研究人员可以利用多种模型来填补对软机器人行为的理解差距。我们提出和评估一个动态的、包装的参数模型和一个有限要素模型,以扩大对软机器人应用程序中FREE的实用性的理解。使用一个整数参数模型的结果显示,当系统内嵌入一个闭环控制器(FEEE)时,它预测FREE的实际旋转动作最多为4%的错误。此外,我们提议,利用有限要素分析来研究FREEE设计参数以及由多个FREEE组成的模块所实现的工作空间。 我们的定数要素结果显示,FEEEEE在软机器人应用应用程序应用中的弹性封闭性封隔板的特性方面的变化比FEEEEEFRIF的相对直径的精确度模型的精确度差性,最后显示,其精确度模型的精确度模型的精确度模型的精确度的精确度模型的精确度的精确度变化比其精确度模型的精确度模型的精确度的精确度模型的精确度的精确度差,其精确度模型的精确度的精确度的精确度的精确度模型的精确度的精确度的精确度差,其精确度的精确度的精确度为其精确度的精确度差度的精确度的精确度比其精确度差。