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首页> 外文会议>IEEE International Conference on Soft Robotics >Characterization of a Class of Soft Bending Arms
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Characterization of a Class of Soft Bending Arms

机译：一类软弯曲臂的表征

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Bending permits soft arms to access a workspace that is not colinear with the initial arm axis; the size and shape of this space depends on the characteristics of the soft arm. Soft bending actuators and arms have developed for specific applications, but not characterized for the general relationship between design variables and performance. This paper defines a class of soft bending arms based on its design, considering the arm as a system constructed from many contracting actuators organized into segments. A modular segment design is presented, and seven variants of this design were constructed and tested for bend radius, bend direction, lateral stiffness and contraction. The variants isolate system parameters, in this case, arm radius and number of actuators within a given segment, to quantify how these parameters affect performance. A trade-off was found between lateral stiffness and bend radius, which can be controlled by altering the arm radius or the number of actuators. Bend direction was found to be coupled to both bend radius and arm load. Finally, a three-segment arm following a bio-inspired design is presented to demonstrate how the experimental results apply to soft robot system design.
机译：弯曲允许软臂进入与初始臂轴线不共线的工作空间;该空间的大小和形状取决于软臂的特性。软弯曲执行器和臂已针对特定应用进行了开发，但并未针对设计变量和性能之间的一般关系进行表征。本文基于软弯曲臂的设计来定义一类软弯曲臂，将其视为一个由许多收缩执行器组成的系统。提出了一种模块化的节段设计，并构造了该设计的七个变体并测试了弯曲半径，弯曲方向，横向刚度和收缩。这些变体隔离系统参数，在这种情况下，是臂半径和给定段内的执行器数量，以量化这些参数如何影响性能。在横向刚度和弯曲半径之间找到了一个折衷，可以通过更改臂半径或执行器数量来控制。发现弯曲方向与弯曲半径和臂负载有关。最后，提出了遵循生物启发设计的三段式手臂，以演示实验结果如何应用于软机器人系统设计。

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