Kinematic Modeling and Open-Loop Control of A Twisted String Actuator-Driven Soft Robotic Manipulator

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-05-03 DOI:10.1115/1.4062466

Revanth Konda, David Bombara, Ember Chow, Jun Zhang

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引用次数: 0

Abstract

Realizing high-performance soft robots is challenging because many existing soft or compliant actuators exhibit limitations like fabrication complexity, high power requirement, slow actuation, and low force generation. Due to their high force output and power efficiency, compactness, and simplicity in fabrication, twisted string actuators (TSAs) have exhibited strong potential in mechatronic and robotic applications. However, they have had limited uses in soft robotics. Consequently, modeling and control of TSA-driven soft robots have not been sufficiently studied. This paper presents the first study on the modeling and control of a TSA-driven soft robot manipulator. A physics-based model was developed to predict the manipulator's kinematic motion. An inverse model was derived to realize open-loop control. Models which describe the behavior of TSAs were utilized in a novel way to develop the proposed kinematic and inverse mod- els of the soft robot. The proposed modeling and control approaches were experimentally verified to be effective. For example, the modeling and control errors of the bending angle were 1.60°(3.11%) and 2.11°(3.68%), respectively.

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扭绳传动软机器人的运动学建模与开环控制

实现高性能软机器人是具有挑战性的，因为许多现有的软或柔性执行器表现出制造复杂性、高功率要求、缓慢的驱动和低力产生等局限性。由于其高输出力和功率效率，结构紧凑，制造简单，扭弦致动器(TSAs)在机电和机器人应用中显示出强大的潜力。然而，它们在软机器人中的应用有限。因此，tsa驱动软机器人的建模和控制研究还不够充分。本文首次对tsa驱动的软机器人机械手的建模与控制进行了研究。建立了一个基于物理的模型来预测机械手的运动学运动。推导出逆模型，实现开环控制。利用描述tsa行为的模型，建立了柔性机器人的运动学和逆模型。实验验证了所提出的建模和控制方法的有效性。例如，弯曲角的建模和控制误差分别为1.60°(3.11%)和2.11°(3.68%)。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.