Tang Yuzhi
Nantong Institute of Technology, Nantong, Jiangsu Province, China.
PLoS One. 2025 Jan 7;20(1):e0317012. doi: 10.1371/journal.pone.0317012. eCollection 2025.
Vehicle-mounted flexible robotic arms (VFRAs) are crucial in enhancing operational capabilities in sectors where human intervention is limited due to accessibility or safety concerns, such as hazardous environments or precision surgery. This paper introduces the latest generation of VFRAs that utilize advanced soft materials and are designed with elongated structures to provide greater flexibility and control. We present a novel mathematical model, derived using Hamilton's principle, which simplifies the analysis of the arm's dynamic behaviors by employing partial differential equations (PDEs). This model allows us to understand how these arms behave over time and space, classifying them as distributed parameter systems. Furthermore, we enhance the practical utility of these robotic arms by implementing a proportional-derivative (PD) based boundary control law to achieve precise control of movement and suppression of vibrations, which are critical for operations requiring high accuracy. Our approach's effectiveness and practical utility are evidenced by numerical simulations, which verify that our advanced control strategy greatly enhances the performance and dependability of VFRAs in actual applications. These advancements not only pave the way for more sophisticated robotic implementations but also have broad implications for the future of automated systems in various industries.
车载柔性机器人手臂（VFRAs）在提升因可达性或安全问题导致人工干预受限的领域的操作能力方面至关重要，例如危险环境或精准手术。本文介绍了利用先进软材料并采用细长结构设计以提供更大灵活性和控制能力的新一代VFRAs。我们提出了一种基于哈密顿原理推导的新型数学模型，该模型通过使用偏微分方程（PDEs）简化了对手臂动态行为的分析。此模型使我们能够了解这些手臂在时间和空间上的行为，将它们归类为分布参数系统。此外，我们通过实施基于比例 - 微分（PD）的边界控制律来增强这些机器人手臂的实际效用，以实现对运动的精确控制和振动抑制，这对于要求高精度的操作至关重要。数值模拟证明了我们方法的有效性和实际效用，验证了我们的先进控制策略在实际应用中极大地提高了VFRAs的性能和可靠性。这些进展不仅为更复杂的机器人实现铺平了道路，也对各行业自动化系统的未来具有广泛影响。
