Modeling and Simulation of an Inchworm-Like Soft Robot

It is a challenging problem to efficiently calculate and systematically analyze the motion laws and working gait of the inchworm-like soft robot. A simple mechanical model consisting of a rigid slider and a curved beam is established under quasi-static conditions, in order to realize quasi-static mo...

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Autores principales:	ZHANG Liwen, XU Qiping, LIU Jinyang
Formato:	article
Lenguaje:	ZH
Publicado:	Editorial Office of Journal of Shanghai Jiao Tong University 2021
Materias:	inchworm-like soft robot quasi-static configurations gait Engineering (General). Civil engineering (General) TA1-2040 Chemical engineering TP155-156 Naval architecture. Shipbuilding. Marine engineering VM1-989
Acceso en línea:	https://doaj.org/article/6badf6ab44c94208b1a8a8eff6d881d3
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spelling	oai:doaj.org-article:6badf6ab44c94208b1a8a8eff6d881d32021-11-04T09:34:25ZModeling and Simulation of an Inchworm-Like Soft Robot1006-246710.16183/j.cnki.jsjtu.2020.047https://doaj.org/article/6badf6ab44c94208b1a8a8eff6d881d32021-02-01T00:00:00Zhttp://xuebao.sjtu.edu.cn/CN/10.16183/j.cnki.jsjtu.2020.047https://doaj.org/toc/1006-2467It is a challenging problem to efficiently calculate and systematically analyze the motion laws and working gait of the inchworm-like soft robot. A simple mechanical model consisting of a rigid slider and a curved beam is established under quasi-static conditions, in order to realize quasi-static modeling and simulation analysis of the inchworm-like soft robot. First, based on the Euler-Bernoulli beam theory, the total potential energy expression of the beam is obtained. Next, combining the boundary conditions and the governing equation derived from the total potential energy based on the variational principle, a set of ordinary differential equations are established. Then, through discretization and dimensionlessness of those equations, a class of nonlinear algebraic equations for numerical solution is proposed. Finally, in the light of the contact situation between curved beam and ground as well as the viscous and slip condition of the system, the motion of the robot is divided into three stages. Through numerical calculations, the different configurations of the curved beam in different stages with the change of the initial curvature amplitude are obtained, which makes it possible to describe the law, the gait, and the net displacement of the soft robot in a motion cycle and solve the problem of movement connection of soft robots at different stages. The quasi-static method is characterized by high computational efficiency, which is more suitable for analyzing the motion configuration of soft robots.ZHANG LiwenXU QipingLIU JinyangEditorial Office of Journal of Shanghai Jiao Tong Universityarticleinchworm-like soft robotquasi-staticconfigurationsgaitEngineering (General). Civil engineering (General)TA1-2040Chemical engineeringTP155-156Naval architecture. Shipbuilding. Marine engineeringVM1-989ZHShanghai Jiaotong Daxue xuebao, Vol 55, Iss 02, Pp 149-160 (2021)
institution	DOAJ
collection	DOAJ
language	ZH
topic	inchworm-like soft robot quasi-static configurations gait Engineering (General). Civil engineering (General) TA1-2040 Chemical engineering TP155-156 Naval architecture. Shipbuilding. Marine engineering VM1-989
spellingShingle	inchworm-like soft robot quasi-static configurations gait Engineering (General). Civil engineering (General) TA1-2040 Chemical engineering TP155-156 Naval architecture. Shipbuilding. Marine engineering VM1-989 ZHANG Liwen XU Qiping LIU Jinyang Modeling and Simulation of an Inchworm-Like Soft Robot
description	It is a challenging problem to efficiently calculate and systematically analyze the motion laws and working gait of the inchworm-like soft robot. A simple mechanical model consisting of a rigid slider and a curved beam is established under quasi-static conditions, in order to realize quasi-static modeling and simulation analysis of the inchworm-like soft robot. First, based on the Euler-Bernoulli beam theory, the total potential energy expression of the beam is obtained. Next, combining the boundary conditions and the governing equation derived from the total potential energy based on the variational principle, a set of ordinary differential equations are established. Then, through discretization and dimensionlessness of those equations, a class of nonlinear algebraic equations for numerical solution is proposed. Finally, in the light of the contact situation between curved beam and ground as well as the viscous and slip condition of the system, the motion of the robot is divided into three stages. Through numerical calculations, the different configurations of the curved beam in different stages with the change of the initial curvature amplitude are obtained, which makes it possible to describe the law, the gait, and the net displacement of the soft robot in a motion cycle and solve the problem of movement connection of soft robots at different stages. The quasi-static method is characterized by high computational efficiency, which is more suitable for analyzing the motion configuration of soft robots.
format	article
author	ZHANG Liwen XU Qiping LIU Jinyang
author_facet	ZHANG Liwen XU Qiping LIU Jinyang
author_sort	ZHANG Liwen
title	Modeling and Simulation of an Inchworm-Like Soft Robot
title_short	Modeling and Simulation of an Inchworm-Like Soft Robot
title_full	Modeling and Simulation of an Inchworm-Like Soft Robot
title_fullStr	Modeling and Simulation of an Inchworm-Like Soft Robot
title_full_unstemmed	Modeling and Simulation of an Inchworm-Like Soft Robot
title_sort	modeling and simulation of an inchworm-like soft robot
publisher	Editorial Office of Journal of Shanghai Jiao Tong University
publishDate	2021
url	https://doaj.org/article/6badf6ab44c94208b1a8a8eff6d881d3
work_keys_str_mv	AT zhangliwen modelingandsimulationofaninchwormlikesoftrobot AT xuqiping modelingandsimulationofaninchwormlikesoftrobot AT liujinyang modelingandsimulationofaninchwormlikesoftrobot
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Modeling and Simulation of an Inchworm-Like Soft Robot

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