Elastic soft robot kinematical modeling method based on constant curvature assumption

Abstract

The invention provides an elastic soft robot kinematical modeling method based on a constant curvature assumption, and belongs to the field of robot kinematical modeling. According to the method, by means of the Kirchhoff bar theory and the constant curvature assumption, firstly, equations of force, displacement and control quantities corresponding to artificial muscles implanted into a flexible material of an elastic soft robot are established; then the actual length of the elastic soft robot at the working temperature is calculated, and mechanical parameters of the flexible material are usedfor calculation; and finally, the section inertia moment about a neutral surface is calculated, the curvature radius and the angle of the elastic soft robot at the working temperature are calculated,the true shape of the elastic soft robot at the working temperature is obtained, and kinematical modeling is completed. According to the method, the modeling process is simple and convenient, the influences of elastic deformation of the elastic soft robot are considered, numerical calculation of partial differential equations is not involved, and the relationship between the shape of the elasticsoft robot and the parameters of the artificial muscle in the elastic soft robot can be rapidly established.

Description

technical field [0001] The invention proposes a kinematics modeling method of an elastic soft robot based on a constant curvature assumption, which belongs to the field of robot kinematics modeling. Background technique [0002] Compared with traditional robots made of rigid materials such as metal, soft robots made of flexible materials usually have different advantages. For example, soft robots are safer in the process of human-computer interaction, move more freely in narrow spaces, and operate Compared with motor-driven rigid body robots, it is more convenient to move and operate. In general, soft robots are characterized by continuous deformation and can be classified into two categories: multi-rigid-body robots with hyper-redundant degrees of freedom and elastic soft robots made of elastic materials to achieve complex shapes. In order to maximize the potential of soft robots, it is more effective to implant functional materials in flexible materials to realize the act...

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Problems solved by technology

This method establishes the kinematics of soft robots for the first time, and provides the basis for only the proposed piecewise constant curvature model, etc., but this type of method is only for rigid robots, and has no effect on elastic soft robots that can undergo elastic deformation.

This type of constant curvature model directly regards the soft robot as rigid to calculate the end pose, but does not point out the relationship between the control quantity and the controlled quantity of the elastic soft robot, such as the temperature, voltage and other parameters of the artificial muscle and the shape of the soft robot. The relationship between

[0007] In addition, there are also some methods using the theory of complex rod models to establish the kinematics model of elastic soft robots, but the improvement of calculation accuracy brought by these methods is not significant compared with the increase of calculation amount

At the same time, the use of numerical solutions to calculate partial differential equations will turn into initial value problems due to unknown initial values, and the use of numerical solutions will make it difficult to calculate inverse kinematics

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