论文标题
软苗条操纵器的分段线性应变Cosserat模型
Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator
论文作者
论文摘要
最近，由于其灵活且合规的结构，软机器人技术已迅速成为一个新颖而有希望的研究领域。但是，很难得出这种软机器人的非线性动态模型。软操作器的差分运动学和动力学可以通过经典的cosserat杆理论配制为一组高度非线性的部分微分方程（PDE）。在这项工作中，我们提出了一种名为“分段线性应变（PLS）”的离散建模技术，以求解基于Cosserat的模型的PDE，以此推导相关的分析模型。为了验证提出的cosserat模型的准确性，通过使用不同的离散方法模拟了重力下锥形悬臂杆的静态模型。结果表明，PLS cosserat模型与现实世界软操作器的机械变形行为相媲美。最后，建立了该模型的参数识别方案，模拟以及实验验证表明，使用此方法可以以高精度识别模型物理参数。
Recently soft robotics has rapidly become a novel and promising area of research with many designs and applications due to their flexible and compliant structure. However, it is more difficult to derive the nonlinear dynamic model of such soft robots. The differential kinematics and dynamics of the soft manipulator can be formulated as a set of highly nonlinear partial differential equations (PDEs) via the classic Cosserat rod theory. In this work, we propose a discrete modeling technique named piecewise linear strain (PLS) to solve the PDEs of Cosserat-based models, based on which the associated analytic models are deduced. To validate the accuracy of the proposed Cosserat model, the static model of the conical cantilever rod under gravity as a simple example is simulated by using different discretization methods. Results indicate that PLS Cosserat model is comparable to the mechanical deformation behavior of real-world soft manipulator. Finally, a parameters identification scheme for this model is established, and the simulation as well as experimental validation demonstrate that using this method can identify the model physical parameters with high accuracy.
