Advanced Search
Volume 42 Issue 12
Dec.  2017
Turn off MathJax
Article Contents
Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(12): 2596-2602.
SHI Zhenyun, ZHU Qiancheng. Soft robot system based on intelligent driver[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(12): 2596-2602. doi: 10.13700/j.bh.1001-5965.2015.0804(in Chinese)
Citation: SHI Zhenyun, ZHU Qiancheng. Soft robot system based on intelligent driver[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(12): 2596-2602. doi: 10.13700/j.bh.1001-5965.2015.0804(in Chinese)
shu

Soft robot system based on intelligent driver

doi: 10.13700/j.bh.1001-5965.2015.0804

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:

China Postdoctoral Science Foundation (2014M560872) 

  • Received Date: 04 Dec 2015
  • Publish Date: 20 Dec 2017
    Abstract
  • Soft robot, as a new type of flexible robot, is attracting more and more attention. How to build emergency ability in unpredictable environments is the key research goal of soft robot technology. For this problem, an intelligent driving-sensing based motion pattern and system component of semi-soft robot is proposed, and on this basis, the mechanism design configuration of each motion module is designed and established. By coupling the actuators with shape memory alloy drivers into a monolithic structure, dynamic model and kinematics model of robot joints are constituted. According to the model, the key parameters for mechanism design and driver design are determined. Robot shells are manufactured by high strength engineering plastics, and soft enclosure and asymmetric pelma are realized by 3D printing. Two types of alloy wires are fixed in the robot body, the radial basis function (RBF) neural network and support function are used to control the robot, and forward motion is finally tested, which verifies correctness of the proposed robot system model.

     

    • FullText(HTML)
  • loading
    • References(24)
  • [1]
    TRIVEDI D,RAHN C D,KIER W M,et al.Soft robotics:Biological inspiration,state of the art,and future research[J].Applied Bionics and Biomechanics,2008,5(3):99-117.
    [2]
    KIM S,LASCHI C,TRIMMER B.Soft robotics:A bioinspired evolution in robotics[J].Trends in Biotechnology,2013,31(5):23-30.
    [3]
    SRINIVASAN M,RUINA A.Computer optimization of a minimal biped model discovers walking and running[J].Nature,2006,439(7072):72-75.
    [4]
    MARVI H,GONG C H,GRAVISH N,et al.Sidewinding with minimal slip:Snake and robot ascent of sandy slopes[J].Science,2014,346(6206):224-229.
    [5]
    BAISCH A T,SREETHARAN P S,WOOD R J.Biologically-inspired locomotion of a 2g hexapod robot[C]//Proceedings of IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEE Press,2010:5360-5365.
    [6]
    ELPHICK M R,MELARANGE R.Neural control of muscle relaxation in echinoderms[J].Journal of Experimental Biology,2001,204(5):875-885.
    [7]
    OBEROI H,DRAPER A,THOMPSON P.Production implementation of a multi spindle flexible drilling system for circumferential splice drilling applications on the 777 airplane[C]//SAE 2009 Aerospace Technology Conference and Exposition.Warrendale,PA:SAE Press,2009:257-262.
    [8]
    SHEPHERD R F,STOKES A A,NUNES R,et al.Soft machines that are resistant to puncture and that self seal[J].Advanced Materials,2013,25(46):6709-6713.
    [9]
    WRIGHT C,BUCHAN A,BROWN B,et al.Design and architecture of the unified modular snake robot[C]//Proceedings of IEEE International Conference on Robotics and Automation.Piscataway,NJ:IEEE Press,2012:4347-4354.
    [10]
    SEOK S,ONAL C D,WOOD R,et al.Peristaltic locomotion with antagonistic actuators in soft robotics[C]//Proceedings of IEEE International Conference on Robotics and Automation.Piscataway,NJ:IEEE Press,2010:1228-1233.
    [11]
    LASCHI C,CIANCHETTI M,MAZZOLAI B,et al.Soft robot arm inspired by the octopus[J].Advanced Robotics,2012,26(7):709-727.
    [12]
    UMEDACHI T,TRIMMER B A.Design of a 3D-printed soft robot with posture and steering control[C]//Proceedings of IEEE International Conference on Robotics and Automation.Piscataway,NJ:IEEE Press,2014:2874-2879.
    [13]
    MORIN S A,SHEPHERD R F,KWOK S W,et al.Camouflage and display for soft machines[J].Science,2012,337(6096):828-832.
    [14]
    LI C,ZHANG T N,GOLDMAN D I.A terradynamics of legged locomotion on granular media[J].Science,2013,339(6126):1408-1412.
    [15]
    CHAN V,PARK K,COLLENS M B,et al.Development of miniaturized walking biological machines[J].Scientific Reports,2012,2(7424):328-329.
    [16]
    UMEDACHI T,VIKAS V,TRIMMER B A.Highly deformable 3-D printed soft robot generating inching and crawling locomotions with variable friction legs[C]//Proceedings of IEEE/RSJ 2013 International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEE Press,2013:4590-4595.
    [17]
    QIN C J, MA P S,YAO Q.A prototype micro-wheeled-robot using SMA actuator[J].Sensors and Actuators A-Physical,2004,113(1):94-99.
    [18]
    ASUA E,FEUTCHWANGER J,GARCIA-ARRIBAS A,et al.Sensorless control of SMA-based actuators using neural networks[J].Journal of Intelligent Material Systems and Structures,2010,21(18):1809-1818.
    [19]
    KOHL M,JUST E,PFLEGING W,et al.SMA microgripper with integrated antagonism[J].Sensors and Actuators A-Physical,2000,83(1-3):208-213.
    [20]
    崔迪,李宏男,宋钢兵.NiTi形状记忆合金电阻特性研究[J].建筑材料学报,2008,11(5):567-573.CUI D,LI H N,SONG G B.NiTi shape memory alloy resistance characteristic study[J].Journal of Building Materials,2008,11(5):567-573(in Chinese).
    [21]
    SAHA A,CHRISTIAN J,TANG D S,et al.Oriented non-radial basis functions for image coding and analysis[C]//Proceedings of IEEE 1990 International Conference on Advances in Neural Information Processing Systems.Piscataway,NJ:IEEE Press,1990:728-734.
    [22]
    POZNYAK A S,SANCHEZ E N,YU W.Differential neural networks for robust nonlinear control:Identification,state estimation and trajectory tracking[J].International Journal of Adaptive Control and Signal Processing,2004,18(3):315-316.
    [23]
    王婷杰,施惠昌.一种基于模糊理论的一致性数据融合方法[J].传感器技术,1999,18(6):50-53.WANG T J,SHI H C.A kind of the consistency of the data fusion method based on fuzzy theory[J].Journal of Transducer Technology,1999,18(6):50-53(in Chinese).
    [24]
    罗中良,高潮,王方连,等.不确定信息的数字滤波器设计及应用[J].传感器技术,2002,21(5):24-26.LUO Z L,GAO C,WANG F L,et al.The digital filter design and application of uncertain information[J].Journal of Transducer Technology,2002,21(5):24-26(in Chinese).
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views(1497) PDF downloads(818) Cited by()
    Proportional views
    Related

    Copyright © Journal of Beijing University of Aeronautics and Astronautics

    Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@cqjj8.com

    Supported by: Beijing Renhe Information Technology Co., Ltd.    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return