A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments
| Autor: | Zhexin Xie, Jiahui Cheng, Kainan Hu, Xi Fang, Wenguang Sun, Li Wen, Zheyuan Gong, Tianmiao Wang, Xingyu Chen |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer program Computer science Acoustics Biophysics Soft robotics Bioengineering 02 engineering and technology Kinematics Wake 021001 nanoscience & nanotechnology Motion control Power (physics) 020901 industrial engineering & automation Torque Underwater 0210 nano-technology Biotechnology |
| Zdroj: | Journal of Bionic Engineering. 15:204-219 |
| ISSN: | 2543-2141 1672-6529 |
| Popis: | 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 ( |
| Databáze: | OpenAIRE |
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