A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments

doi:10.1007/s42235-018-0016-x

	A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments
	Gong, Zheyuan 1; Cheng, Jiahui 1; Chen, Xingyu2 ; Sun, Wenguang 1; Fang, Xi 1; Hu, Kainan 1; Xie, Zhexin 1; Wang, Tianmiao 1; Wen, Li 1,3
发表期刊	JOURNAL OF BIONIC ENGINEERING
ISSN	1672-6529
	2018-03-01
卷号	15 期号:2 页码:204-219
通讯作者	Wen, Li(liwen@buaa.edu.cn)
摘要	Soft robotics has several promising properties for aquatic applications, such as safe interaction with environments, lightweight, low cost, etc. In this paper, we proposed the kinematic modeling and hydrodynamics experiments of a soft robotic arm with 3D locomotion capacity. We developed a mathematical model that incorporates the angle correction, as well as the open-loop model-based motion control. The model could precisely predict the three-dimensional (3D) movement, and the location error is less than 5.7 mm in different attitudes. Furthermore, we performed the hydrodynamic investigations and simultaneously measured the hydrodynamic forces and the wake flows at different amplitudes (50 mm, 100 mm, 150 mm, 200 mm) and frequencies (0.3 Hz, 0.4 Hz, 0.5 Hz) of the soft arm. Surprisingly, we found that the magnitudes of the hydrodynamic force (<1 N) and the torques (<0.08 N.m) of dynamically moving soft arm were tiny, which leads to negligible inertial effect for the underwater vehicle than those of the traditional rigid underwater manipulator. Finally, we demonstrated underwater picking and placing tasks of the soft manipulator by using a computer program that controls the tip attitude and velocity. This study may inspire future underwater manipulators that have properties of low-inertial, low power cost and can safely interact with the aquatic environments.
关键词	bio-inspired soft robotic arm aquatic environment kinematics digital particle image velocimetry
DOI	10.1007/s42235-018-0016-x
关键词[WOS]	ACTUATORS ; FABRICATION ; MANIPULATOR ; DESIGN ; WATER
收录类别	SCI
语种	英语
资助项目	National Science Foundation support key projects, China[61333016] ; National Science Foundation support key projects, China[61633004] ; National Science Foundation support key projects, China[61633004] ; National Science Foundation support key projects, China[61333016]
项目资助者	National Science Foundation support key projects, China
WOS研究方向	Engineering ; Materials Science ; Robotics
WOS类目	Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
WOS记录号	WOS:000428289600002
出版者	SCIENCE PRESS
引用统计	被引频次：43[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/28247
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wen, Li
作者单位	1.Beihang Univ, Sch Mech Engn & Automat, Beijing 100191, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Beihang Univ, Beijing Adv Innovat Ctr Biomed Engn, Beijing 100191, Peoples R China
推荐引用方式 GB/T 7714	Gong, Zheyuan,Cheng, Jiahui,Chen, Xingyu,et al. A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments[J]. JOURNAL OF BIONIC ENGINEERING,2018,15(2):204-219.
APA	Gong, Zheyuan.,Cheng, Jiahui.,Chen, Xingyu.,Sun, Wenguang.,Fang, Xi.,...&Wen, Li.(2018).A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments.JOURNAL OF BIONIC ENGINEERING,15(2),204-219.
MLA	Gong, Zheyuan,et al."A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments".JOURNAL OF BIONIC ENGINEERING 15.2(2018):204-219.