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28 February 2024 Modeling and analysis of elastic plane constraint on soft robots
Zhaoyan Deng, Hongwei Gao, Peng Chen, Yuwang Liu
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Proceedings Volume 13071, International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023); 130713O (2024) https://doi.org/10.1117/12.3025409
Event: International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023), 2023, Shenyang, China
Abstract
Under the influence of unstructured environmental constraints, the spatial morphological changes in slender soft robots are primarily determined by the robot's force situation. Therefore, this paper focused on theoretically modeling and analyzing the static equilibrium problem of slender soft robots. The static mechanical model of the robot under unstructured elastic constraints was simplified, established, and computationally solved based on the theory of elastic rods. Simulation calculations for the model under General plane elastic constraints were conducted, providing an initial verification of the accuracy.
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Zhaoyan Deng, Hongwei Gao, Peng Chen, and Yuwang Liu "Modeling and analysis of elastic plane constraint on soft robots", Proc. SPIE 13071, International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023), 130713O (28 February 2024); https://doi.org/10.1117/12.3025409
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KEYWORDS
Robots
Elasticity
Modeling
Robotics
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