Dynamic Model of a Multibending Soft Robot Arm Driven by Cables

Renda, Federico, Giorelli, Michele, Calisti, Marcello , Cianchetti, Matteo and Laschi, Cecilia (2014) Dynamic Model of a Multibending Soft Robot Arm Driven by Cables. IEEE Transactions on Robotics, 30 (5). pp. 1109-1122. ISSN 1552-3098

Full content URL: https://doi.org/10.1109/TRO.2014.2325992

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Item Type:Article
Item Status:Live Archive

Abstract

The new and promising field of soft robotics has many open areas of research such as the development of an exhaustive theoretical and methodological approach to dynamic modeling. To help contribute to this area of research, this paper develops a dynamic model of a continuum soft robot arm driven by cables and based upon a rigorous geometrically exact approach. The model fully investigates both dynamic interaction with a dense medium and the coupled tendon condition. The model was experimentally validated with satisfactory results, using a soft robot arm working prototype inspired by the octopus arm and capable of multibending. Experimental validation was performed for the octopus most characteristic movements: bending, reaching, and fetching. The present model can be used in the design phase as a dynamic simulation platform and to design the control strategy of a continuum robot arm moving in a dense medium.

Keywords:Robots, Vectors, Mathematical model, Load modeling, Strain, Force, Materials
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:46178
Deposited On:23 Aug 2021 15:36

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