南方科技大学知识苑(SUSTech KC): Stiffness modelling and analysis of soft fluidic-driven robots using Lie theory

题名	Stiffness modelling and analysis of soft fluidic-driven robots using Lie theory
作者	Shi, Jialei 1; Shariati, Azadeh 1; Abad, Sara-Adela 1,2; Liu, Yuanchang 1; Dai, Jian S.3,4 ; Wurdemann, Helge A.1,5
通讯作者	Wurdemann, Helge A.
发表日期	2023-12-01
DOI	10.1177/02783649231200595
发表期刊	INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 影响因子和分区
ISSN	0278-3649
EISSN	1741-3176
摘要	Soft robots have been investigated for various applications due to their inherently superior deformability and flexibility compared to rigid-link robots. However, these robots struggle to perform tasks that require on-demand stiffness, that is, exerting sufficient forces within allowable deflection. In addition, the soft and compliant materials also introduce large deformation and non-negligible nonlinearity, which makes the stiffness analysis and modelling of soft robots fundamentally challenging. This paper proposes a modelling framework to investigate the underlying stiffness and the equivalent compliance properties of soft robots under different configurations. Firstly, a modelling and analysis methodology is described based on Lie theory. Here, we derive two sets (the piecewise constant curvature and Cosserat rod model) of compliance models. Furthermore, the methodology can accommodate the nonlinear responses (e.g., bending angles) resulting from elongation of robots. Using this proposed methodology, the general Cartesian stiffness or compliance matrix can be derived and used for configuration-dependent stiffness analysis. The proposed framework is then instantiated and implemented on fluidic-driven soft continuum robots. The efficacy and modelling accuracy of the proposed methodology are validated using both simulations and experiments.
关键词	Soft continuum robot stiffness modelling and analysis kinematics and statics models Lie theory
相关链接	[来源记录]
收录类别	SCI ; EI
语种	英语
学校署名	其他
资助项目	Springboard Award of the Academy of Medical Sciences[SBF003-1109] ; Engineering and Physical Sciences Research Council["EP/R037795/1","EP/S014039/1","EP/V01062X/1"] ; Royal Academy of Engineering[IAPP18-19\264]
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:001115229300001
出版者	SAGE PUBLICATIONS LTD
EI入藏号	20234915162201
EI主题词	Stiffness ; Stiffness matrix
EI分类号	Robotics:731.5 ; Algebra:921.1 ; Materials Science:951
ESI学科分类	ENGINEERING
来源库	Web of Science
引用统计	被引频次[WOS]：5
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/629008
专题	南方科技大学
作者单位	1.UCL, Dept Mech Engn, London, England 2.Inst Appl Sustainabil Res, Quito, Ecuador 3.Southern Univ Sci & Technol, Inst Robot, Shenzhen, Peoples R China 4.Kings Coll London, Ctr Robot Res, Dept Engn, London, England 5.UCL, Dept Mech Engn, Roberts Engn Bldg, London WC1E 6BT, England
推荐引用方式 GB/T 7714	Shi, Jialei,Shariati, Azadeh,Abad, Sara-Adela,et al. Stiffness modelling and analysis of soft fluidic-driven robots using Lie theory[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH,2023.
APA	Shi, Jialei,Shariati, Azadeh,Abad, Sara-Adela,Liu, Yuanchang,Dai, Jian S.,&Wurdemann, Helge A..(2023).Stiffness modelling and analysis of soft fluidic-driven robots using Lie theory.INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH.
MLA	Shi, Jialei,et al."Stiffness modelling and analysis of soft fluidic-driven robots using Lie theory".INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2023).