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首页> 外文期刊>The International journal of robotics research >The softness distribution index: towards the creation of guidelines for the modeling of soft-bodied robots
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The softness distribution index: towards the creation of guidelines for the modeling of soft-bodied robots

机译：柔软性分布指数：朝着制造软体机器人的建模指导方针

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摘要

Modeling soft robots is not an easy task owing to their highly nonlinear mechanical behavior. So far, several researchers have tackled the problem using different approaches, each having advantages and drawbacks in terms of accuracy, ease of implementation, and computational burden. The soft robotics community is currently working to develop a unified framework for modeling. Our contribution in this direction consists of a novel dimensionless quantity that we call the softness distribution index (SD1). The SDI for a given soft body is computed based on the distribution of its structural properties. We show that the index can serve as a tool in the choice of a modeling technique among multiple approaches suggested in literature. At the moment, the investigation is limited to bodies performing planar bending. The aim of this work is twofold: (ⅰ) to highlight the importance of the distribution of the geometrical and material properties of a soft robotic link/body throughout its structure; and (ⅱ) to demonstrate that a classification based on this distribution provides guidelines for the modeling.
机译：由于其高度非线性的机械行为，柔软机器人的建模不是一项简单的任务。到目前为止，几个研究人员使用不同方法解决了问题，每个研究都在准确性，易于实现和计算负担方面具有优缺点。软机器人社区目前正在努力制定统一的建模框架。我们对此方向的贡献包括一种新的无量纲数量，我们称之为柔软分布指数（SD1）。基于其结构特性的分布来计算给定软体的SDI。我们表明该索引可以作为选择在文献中提出的多种方法中选择建模技术的工具。目前，调查仅限于执行平面弯曲的机构。这项工作的目的是双重的：（Ⅰ）突出整个结构中软机械连接/体的几何和材料特性分布的重要性; （Ⅱ）证明基于该分配的分类为建模提供了指导。

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