Dynamic Modeling and Experimental Validation of a Water Hydraulic Soft Manipulator Based on an Improved Newton—Euler Iterative Method

Author:

Chen YinglongORCID,Sun Qiang,Guo Qiang,Gong Yongjun

Abstract

Compared with rigid robots, soft robots have better adaptability to the environment because of their pliability. However, due to the lower structural stiffness of the soft manipulator, the posture of the manipulator is usually decided by the weight and the external load under operating conditions. Therefore, it is necessary to conduct dynamics modeling and movement analysis of the soft manipulator. In this paper, a fabric reinforced soft manipulator driven by a water hydraulic system is firstly proposed, and the dynamics of both the soft manipulator and hydraulic system are considered. Specifically, a dynamic model of the soft manipulator is established based on an improved Newton–Euler iterative method, which comprehensively considers the influence of inertial force, elastic force, damping force, as well as combined bending and torsion moments. The dynamics of the water hydraulic system consider the effects of cylinder inertia, friction, and water response. Finally, the accuracy of the proposed dynamic model is verified by comparing the simulation results with the experimental data about the steady and dynamic characteristics of the soft manipulator under various conditions. The results show that the maximum sectional error is about 0.0245 m and that the maximum cumulative error is 0.042 m, which validate the effectiveness of the proposed model.

Funder

National Natural Science Foundation of China

High-Tech Ship Project of Ministry of Industry and Information Technology

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Mechanical Engineering,Control and Systems Engineering

Reference36 articles.

1. Soft robotics: Structure, actuation, sensing and control;Wang;J. Mech. Eng.,2017

2. Research development of soft robots;Wang;J. S. China Univ. Technol.,2020

3. Review of Soft-bodied Robots

4. Review of Biomimetic Mechanism, Actuation, Modeling and Control in Soft Manipulators

5. State-of-art of Compliant Mechanisms and Their Applications

Cited by 10 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Optimizing Contact Force on an Apple Picking Robot End-Effector;Agriculture;2024-06-25

2. Dynamics modeling and impact response of a rescue robot with two flexible manipulators;Journal of the Brazilian Society of Mechanical Sciences and Engineering;2024-03-15

3. Simulation Approach for Soft Manipulators in Gazebo using Kinematic Model;2023 Latin American Robotics Symposium (LARS), 2023 Brazilian Symposium on Robotics (SBR), and 2023 Workshop on Robotics in Education (WRE);2023-10-09

4. Sliding Mode Control with Feedforward Compensation for a Soft Manipulator That Considers Environment Contact Constraints;Journal of Marine Science and Engineering;2023-07-18

5. A New Type of Electric Servo Actuator with an Energy Recovery Link and Its Dynamic and Energy Consumption Characteristics Analysis;Arabian Journal for Science and Engineering;2023-03-10

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3