The Worldwide Journal of Robotics Analysis, Forward of Print.
The necessity for quick and correct evaluation of soppy robots requires decreased order fashions (ROM). Amongst these, the relative discount of strain-based ROMs follows the discretization of the pressure to seize the configurations of the robotic. Based mostly on the geometrically actual variable pressure parametrization of the Cosserat rod, we developed a ROM that necessitates a minimal variety of levels of freedom to characterize the state of the robotic: the Geometric Variable Pressure (GVS) mannequin. This mannequin permits the static and dynamic evaluation of open-, branched-, or closed-chain soft-rigid hybrid robots, all below the identical mathematical framework. This paper presents for the primary time the whole GVS modeling framework for a generic hybrid soft-rigid robotic. Based mostly on the Magnus enlargement of the variable pressure area, we developed an environment friendly recursive algorithm for computing the Lagrangian dynamics of the system. To discretize the comfortable hyperlink, we introduce state- and time-dependent foundation, which is essentially the most normal type of pressure foundation. We classify the impartial bases into international and native bases. We suggest “FEM-like” native pressure bases with nodal values as their generalized coordinates. Lastly, utilizing 4 real-world functions, we illustrate the potential of the mannequin developed. We expect that the comfortable robotics neighborhood will use the great framework offered on this work to research a variety of particular robotic methods.
发布者：Anup Teejo Mathew，转转请注明出处：https://robotalks.cn/reduced-order-modeling-of-hybrid-soft-rigid-robots-using-global-local-and-state-dependent-strain-parameterization/
