Soft robot modeling method

Abstract

The soft robot modeling method comprises a white box model, a black box model and a gray box model. According to the white box model, starting from an internal mechanism of a material, a partial differential equation set is established by utilizing multidisciplinary knowledge of physics, chemistry, mechanics, electricity and the like to describe basic characteristics of the ionic EAP driver, and all parameters in the model have clear physical significance. According to the black box model, on the premise that the internal state change of the system is not considered, the model is directly established through the experiment identification technology according to the input and output relation of the system, and therefore an analytical solution of the model and a system transfer function are easily obtained. The grey box model is a model which is obtained by combining basic physical laws and experimental test data and utilizing a parameter identification technology and can reflect partial internal laws of the system.

Description

technical field [0001] The invention relates to the field of robot modeling, in particular to a modeling method for a soft robot that can clearly understand the drive technology of the current ionic EAP, including a white-box model, a black-box model and a gray-box model. Background technique [0002] At present, the modeling of soft robots is very difficult. The main reasons include: (1) The structural deformation of soft robots is large, the nonlinear problem is serious, and there are geometric nonlinearity and material nonlinearity at the same time; (2) Theoretically, there is no The joints of traditional robots should be continuous structures; (3) It is necessary to comprehensively utilize multidisciplinary knowledge such as mechanics, electricity, fluids, and chemistry to establish mathematical models. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a modeling method for a soft robot ...

AI Technical Summary

Problems solved by technology

[0002] At present, the modeling of soft robots is very difficult. The main reasons include: (1) The structural deformation of soft robots is large, the nonlinear problem is serious, and there are geometric nonlinearity and material nonlinearity at the same time; (2) Theoretically, there is no The joints of traditional robots should be continuous structures; (3) It is necessary to comprehensively utilize multidisciplinary knowledge such as mechanics, electricity, fluids, and chemistry to establish mathematical models

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