Garbulinski Jacek, Wereley Norman M
Composites Research Laboratory, Department of Aerospace Engineering, University of Maryland, College Park, MD, United States.
Front Robot AI. 2022 Apr 13;9:804095. doi: 10.3389/frobt.2022.804095. eCollection 2022.
Low stiffness, large stroke, and axial force capabilities make Extensile Fluidic Artificial Muscles (EFAMs) a feasible soft actuator for continuum soft robots. EFAMs can be used to construct soft actuated structures that feature large deformation and enable soft robots to access large effective workspaces. Although FAM axial properties have been well studied, their bending behavior is not well characterized in the literature. Static and dynamic bending properties of a cantilevered EFAM specimen were investigated over a pressure range of 5-100 psi. The static properties were then estimated using an Euler-Bernoulli beam model and discrete elastic rod models. The experiments provided data for the determination of bending stiffness, damping ratio, and natural frequency of the tested specimen. The bending stiffness and the damping ratio were found to change fourfold over the pressure range. Experimentally validated bending properties of the EFAM presented insights into structural and control considerations of soft robots. Future work will utilize the data and models obtained in this study to predict the behavior of an EFAM-actuated continuum robot carrying payloads.
低刚度、大行程和轴向力能力使可拉伸流体人工肌肉（EFAM）成为连续体软机器人可行的软致动器。EFAM可用于构建具有大变形特征的软致动结构，并使软机器人能够进入大的有效工作空间。尽管FAM的轴向特性已得到充分研究，但其弯曲行为在文献中并未得到很好的描述。在5-100 psi的压力范围内研究了悬臂式EFAM试样的静态和动态弯曲特性。然后使用欧拉-伯努利梁模型和离散弹性杆模型估计静态特性。实验提供了用于确定测试试样的弯曲刚度、阻尼比和固有频率的数据。发现在压力范围内弯曲刚度和阻尼比变化了四倍。经实验验证的EFAM弯曲特性为软机器人的结构和控制考虑提供了见解。未来的工作将利用本研究中获得的数据和模型来预测携带 payloads 的 EFAM 驱动连续体机器人的行为。
