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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：表征一类软弯曲臂

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摘要

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：弯曲允许软臂进入没有初始臂轴没有CLINEAR的工作空间;该空间的尺寸和形状取决于软臂的特性。软弯曲执行器和臂已为特定应用开发，但没有表征设计变量与性能之间的一般关系。本文定义了一类基于其设计的软弯曲臂，考虑到从组织成段的许多收缩执行器构造的系统。提出了模块化段设计，并且构造并测试了该设计的七种变体，并对弯曲半径，弯曲方向，横向刚度和收缩进行了测试。变型隔离系统参数，在这种情况下，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发现了权衡，这可以通过改变臂半径或致动器的数量来控制。发现弯曲方向耦合到弯曲半径和臂载。最后，提出了一种三段臂，介绍了生物启发设计之后，以证明实验结果如何适用于软机械系统设计。

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