Theoretical and Experimental Behavior Analysis of Continuous Soft Robots Consisting of Fiber-Reinforced Actuators

Authors

Mechanical Engineering Department/ Amirkabir University of Technology

Abstract

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%.

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References

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Journal of Solid and Fluid Mechanics
Volume 12, Issue 5
November and December 2022
Pages 161-173

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