A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments
Time: 2018-03-28 09:09  Click:409
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 (<1 N) and the torques (<0.08 N•m) of dynamically moving soft arm were tiny, which leads to negligible inertial effect for the underwater vehicle than those of the traditional rigid underwater manipulator. Finally, we dem-onstrated underwater picking and placing tasks of the soft manipulator by using a computer program that controls the tip attitude and velocity. This study may inspire future underwater manipulators that have properties of low-inertial, low power cost and can safely interact with the aquatic environments.
This work is carried out by Zheyuan Gong1, Jiahui Cheng1, Xingyu Chen2, Wenguang Sun1, Xi Fang1, Kainan Hu1, Zhexin Xie1, Tianmiao Wang1, Li Wen1,3*
1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
2. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
3. Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100191, China
and published on the JBE Volume 15, Issue 2,  March 2018, Pages 204-219

Full text is available at https://link.springer.com/article/10.1007/s42235-018-0016-x 


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