...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>The International journal of robotics research >Reliability analysis of a tendon-driven actuation for soft robots
【24h】

Reliability analysis of a tendon-driven actuation for soft robots

机译：软机械肌腱驱动致动的可靠性分析

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The reliability of soft robotic devices will be the bottleneck that slows their commercialization. In particular, fatigue failure issues are a major concern. Thus, reliability should be taken into account from the earliest stages of development. However, to date, there have been no attempts to analyze the reliability of soft robotic devices in a systematic manner. When soft robots are employed to force transmission applications, reliability is typically a dominant issue, since soft robotic structures are constructed with soft material components; these materials have highly nonlinear properties that arise due to the large distribution in the material properties. Furthermore, reliability should be analyzed from the robot's system down to the components using domain knowledge about the system; this requires a systematic approach. This study presents a framework for reliability analysis of soft robotic devices taking into account a probability distribution that has not been considered before and examines a case study of a tendon-driven soft robot. This study focuses specifically on the (a) concept design process, (b) lifetime analysis process, and (c) design and optimization process. A life model that considers distribution is proposed using accelerated life testing based on analysis of the failure mechanism of the tendon-driven system. The tensile stress of the wire was varied during the experiment with different bend angles and output tension. The result was validated with different stress levels using a testbed to simulate an actual application. The proposed reliability analysis methodology could be applied to other soft robotic systems, such as pneumatic actuators, to improve the reliability-related properties during the robot design stage, and the life model can be used to estimate the device lifetime under various stress conditions.
机译：软机器人设备的可靠性将是减缓商业化的瓶颈。特别是，疲劳失败问题是一个主要问题。因此，应从最早的发展阶段考虑可靠性。然而，迄今为止，已经没有尝试以系统方式分析软机器人设备的可靠性。当使用软机器人来强制传输应用时，可靠性通常是主导问题，因为软机器人结构由软质材料构成;这些材料具有高度非线性性质，由于材料特性的较大分布而产生。此外，应使用有关系统的域知识从机器人的系统从机器人的系统分析可靠性;这需要系统的方法。本研究介绍了对软机械设备的可靠性分析，考虑到之前未考虑的概率分布和检查肌腱驱动的软机器人的案例研究。本研究专注于（a）概念设计过程，（b）寿命分析过程，（c）设计和优化过程。提出了一种利用基于肌腱驱动系统的故障机理分析的加速寿命测试来提出分布的寿命模型。在实验期间，电线的拉伸应力在具有不同的弯曲角度和输出张力期间变化。使用试验台用不同的应力水平验证结果以模拟实际应用。所提出的可靠性分析方法可以应用于其他软机器人系统，例如气动致动器，以改善机器人设计阶段期间的可靠性相关性能，并且寿命模型可用于在各种应力​​条件下估计设备寿命。

著录项

  • 来源
    《The International journal of robotics research》 |2021年第1期|494-511|共18页
  • 作者

    Useok Jeong; Keunsu Kim; Sang-Hun Kim; Hyunhee Choi; Byeng Dong Youn; Kyu-Jin Cho;

  • 作者单位

    Robotics R&D Group Korea Institute of Industrial Technology (KITECH) Republic of Korea Soft Robotics Research Center Republic of Korea;

    Soft Robotics Research Center Republic of Korea Laboratory for System Health & Risk Management School of Mechanical and Aerospace Engineering Seoul National University Republic of Korea;

    Soft Robotics Research Center Republic of Korea Biorobotics Laboratory School of Mechanical and Aerospace Engineering Seoul National University Republic of Korea;

    Laboratory for System Health & Risk Management School of Mechanical and Aerospace Engineering Seoul National University Republic of Korea;

    Soft Robotics Research Center Republic of Korea Laboratory for System Health & Risk Management School of Mechanical and Aerospace Engineering Seoul National University Republic of Korea Institute of Advanced Machines and Design Seoul National University Republic of Korea OnePredict Inc. Republic of Korea;

    Soft Robotics Research Center Republic of Korea Biorobotics Laboratory School of Mechanical and Aerospace Engineering Seoul National University Republic of Korea Institute of Advanced Machines and Design Seoul National University Republic of Korea;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Tendon-driven soft robot; Bowden cable; reliability; fatigue failure; lifetime;

    机译：肌腱驱动的软机器人;鲍登电缆;可靠性;疲劳失败;寿命;

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号