This work investigates the applicability of stiffness-based modelling in soft robotics manipulation. The methodology is introduced and applied to model a soft robotics manipulator as single 3d Timoshenko beam element. The model is then utilized to solve the forward kinematics problem for the manipulator. The algorithm is validated comparing the simulated deflection with the deflection of the physical manipulator for two defined pressure sequences. It is shown that the model behaves in a highly similar fashion in comparison to the manipulator. For both trajectories the maximum position error is close to 6 mm while the error in orientation not more than 18°. The methodology as described in this work reveals great applicability to the field of soft robots being limited only by the stiffness matrix assembly for the given system. Implementations of inverse kinematics and the effects of external force applications are effectively integrable in the described theory.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator


    Beteiligte:
    Lindenroth, L (Autor:in) / Back, J (Autor:in) / Schoisengeier, A (Autor:in) / Noh, Y (Autor:in) / Würdemann, H (Autor:in) / Althoefer, K (Autor:in) / Liu, H (Autor:in)

    Erscheinungsdatum :

    2016-12-01


    Anmerkungen:

    In: Proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. pp. 2458-2463). IEEE: Daejeon, Korea. (2016)


    Medientyp :

    Paper


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Electro-hydraulically actuated forestry manipulator : Modeling and Identification

    La Hera, Pedro / Rehman, Bilal Ur / Morales, Daniel Ortiz | BASE | 2012

    Freier Zugriff

    Hydraulically actuated transfer case

    HART JAMES M / WILTON DARYL A / MOSES ROBERT L | Europäisches Patentamt | 2022

    Freier Zugriff

    HYDRAULICALLY ACTUATED TRANSFER CASE

    HART JAMES M / WILTON DARYL A / MOSES ROBERT L | Europäisches Patentamt | 2021

    Freier Zugriff

    Hydraulically actuated latch mechanism

    CAMPBELL LOWELL BRUCE / RANKIN RICHARD LEROY | Europäisches Patentamt | 2015

    Freier Zugriff

    Hydraulically actuated power transfer unit

    PRITCHARD LARRY A | Europäisches Patentamt | 2019

    Freier Zugriff