典型文献
Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles
文献摘要：
Owing to their inherent great flexibility,good compliance,excellent adaptability,and safe interactivity,soft robots have shown great application potential.The advantages of light weight,high efficiency,non-polluting characteristic,and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots.In this paper,a soft robot with 10 soft modules,comprising three uniformly distributed endoskeleton pneumatic artificial muscles,was developed.The robot can achieve flexible motion in 3D space.A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated,which can accurately and efficiently analyze forward and inverse kinematics.Experiments show that the robot can be controlled to move to the desired position based on the proposed model.The prototype and modeling method can provide a new perspective for soft robot design,modeling,and control.
文献关键词：
中图分类号：
作者姓名：
Peng CHEN;Tingwen YUAN;Yi YU;Yuwang LIU
作者机构：
State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China;School of Mechanical Engineering,Northeastern University,Shenyang 110000,China
文献出处：
引用格式：
[1]Peng CHEN;Tingwen YUAN;Yi YU;Yuwang LIU-.Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles)[J].机械工程前沿,2022(02):69-82
A类：
endoskeleton
B类：
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AB值：
0.564971
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