Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 24, Issue 4, Pages 773-780Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2008.924923
Keywords
air muscle actuators; Cosserat rods; soft robots
Categories
Ask authors/readers for more resources
Unlike traditional rigid linked robots, soft robotic manipulators can bend into a wide variety of complex shapes due to control inputs and gravitational loading. This paper presents a new approach for modeling soft robotic manipulators that incorporates the effect of material nonlinearities and distributed weight and payload. The model is geometrically exact for the large curvature, shear, torsion, and extension that often occur in these manipulators. The model is based on the geometrically exact Cosserat rod theory and a fiber reinforced model of the air muscle actuators. The model is validated experimentally on the OctArm V manipulator, showing less than 5% average error for a wide range of actuation pressures and base orientations as compared to almost 50% average error for the constant-curvature model previously used by researchers. Workspace plots generated from the model show the significant effects of self-weight on OctArrn V.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available