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Dynamical analysis and development of a biologically inspired SMA caterpillar robot

机译：生物启发SMA毛虫机器人的动态分析与发展

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摘要

With the goal of robustly designing and fabricating a soft robot based on a caterpillar featuring shape memory alloy (SMA) actuators, analytical and numerical models for a soft robot were created based on the forward crawling motion of the Manduca sexta caterpillar. The analytical model features a rod theory and the mechanics of undulation were analyzed using a motion pattern based on the 'Witch of Agnesi' curve. Complementing these models, experiments on a SMA actuator sample were performed in order to determine its flexural rigidity and curvature as a function of the actuation voltage. A series of these actuators can be modeled as a system of rigid bodies connected by torsional springs. As these bodies are actuated according to the motion pattern based on the individual caterpillar segments, ground contact forces are calculated and analyzed to determine the requirements of successful forward locomotion. The energetics of the analytical and numerical models are then compared and discussed.
机译：通过基于毛毛虫的毛虫制造和制造软机器人的目标，基于Manduca Sexta毛虫的前向爬行运动来创建用于软机器人的分析和数值模型。分析模型采用棒理论和利用基于艾青曲线的“巫婆”的运动模式分析了起伏的力学。补充这些模型，进行SMA致动器样品的实验，以确定其作为致动电压的函数的弯曲刚度和曲率。一系列这些执行器可以被建模为由扭转弹簧连接的刚体系统。由于这些体根据基于个体毛毛虫段的运动模式致动，因此计算并分析接地力以确定成功前进运动的要求。然后比较分析和数值模型的能量学和讨论。

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