软机器人
气动人工肌肉
人工肌肉
扭转(腹足类)
弯曲
曲率
运动学
结构工程
执行机构
材料科学
屈曲
机械工程
计算机科学
工程类
解剖
物理
人工智能
几何学
经典力学
数学
医学
作者
Qinghua Guan,Jian Sun,Yanju Liu,Norman M. Wereley,Jinsong Leng
出处
期刊:Soft robotics
[Mary Ann Liebert]
日期:2020-10-01
卷期号:7 (5): 597-614
被引量:87
标识
DOI:10.1089/soro.2019.0079
摘要
Pneumatic artificial muscles (PAMs) are an extensively investigated type of soft actuator. However, the PAM motions have been limited somewhat to uniaxial contraction and extension, restraining the development of PAMs. Given the current strong interest in soft robotics, PAMs have been gaining renewed attention due to their excellent compliance and ease of fabrication. Herein, under the inspiration of the elephant trunk, a family of bending and helical extensile PAMs (HE-PAMs)/helical contractile PAMs (HC-PAMs) was proposed and analyzed. Through both experiment and analysis, a model of generalized bending behavior of PAMs was built and developed to investigate the properties of axial, bending, and helical PAMs in the same theoretical framework. The topological equivalence and bifurcation were found in the analysis and utilized to explain the behaviors of these different PAMs. Meanwhile, a coupled constant curvature and torsion kinematics model was proposed to depict the motion of PAMs more accurately and conveniently. Moreover, a soft tandem manipulator consisting of bending and helical PAMs was proposed to demonstrate their attractive potential.
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