Theoretical and Experimental Behavior Analysis of Continuous Soft Robots Consisting of Fiber-Reinforced Actuators
Article Type:
Research/Original Article (دارای رتبه معتبر)
In this paper, quasi-static analysis of a continuous soft robot made up of three fiber-reinforced actuators is performed. For this purpose, the kinematic and dynamic equations of this robot are extracted and numerically solved by considering it as a Cosserat rod. The resultant equations are dependent on the length of the rod's curvature, and thus can only simulate forces and strains in the longitudinal direction. Due to the difficulties of applying radial forces in this model, the modeling of a single fiber-reinforced actuator using nonlinear elasticity equations is then presented. Finally, by solving these equations, the strains resulting from radial stresses are calculated and integrated with the strains obtained from Cosseart rod model. Experiments have been carried out to validate the proposed theory. For this purpose, the robot end effector position is extracted using image processing methods and compared with the presented models. The experimental results show that applying the effect of radial pressures to the Cosserat model improves the relative error by 13.48%.
Journal of Solid and Fluid Mechanics, Volume:12 Issue: 5, 2023
161 to 173  
دانلود و مطالعه متن این مقاله با یکی از روشهای زیر امکان پذیر است:
اشتراک شخصی
با عضویت و پرداخت آنلاین حق اشتراک یک‌ساله به مبلغ 990,000ريال می‌توانید 60 عنوان مطلب دانلود کنید!
اشتراک سازمانی
به کتابخانه دانشگاه یا محل کار خود پیشنهاد کنید تا اشتراک سازمانی این پایگاه را برای دسترسی نامحدود همه کاربران به متن مطالب تهیه نمایند!
  • حق عضویت دریافتی صرف حمایت از نشریات عضو و نگهداری، تکمیل و توسعه مگیران می‌شود.
  • پرداخت حق اشتراک و دانلود مقالات اجازه بازنشر آن در سایر رسانه‌های چاپی و دیجیتال را به کاربر نمی‌دهد.
In order to view content subscription is required

Personal subscription
Subscribe for 50 € euros via PayPal and download 60 articles during a year.
Organization subscription
Please contact us to subscribe your university or library for unlimited access!