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modeling the dynamic deformation process of light-responsive liquid crystal elastomer actuator

Modeling the dynamic deformation process of light-responsive...

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第43届中国控制会议

作者： Junyu Xue Jundong Wu Qingxin meng Yawu Wang Chun-Yi Su Daiki Sato Jinhua She School of Automation China University of Geosciences Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Laboratory for Future Interdisciplinary Research of science and Technology (FIRST) Tokyo Institute of Technology Gina Cody School of Engineering and Computer science Concordia University The School of Engineering Tokyo University of Technology

Light-responsive liquid crystal elastomer actuators(LCEAs) enables novel remote-controlled soft robot actuation,bringing new possibilities to the application of soft ***,these actuators have complicated dynamic characteristics,and a dynamic model that can describe the deformation process of LCEAs is needed to predict and control their *** on the above consideration,this paper proposes a model to describe the dynamic deformation process of light-responsive *** proposed model consists of two parts:a dynamic temperature model and a dynamic deformation *** order to verify the proposed model,we establish a light-responsive LCEA experimental platform and perform LCEA deformation *** parameters of the model are identified by the nonlinear least squares *** experimental results show that the proposed model can characterize the dynamic deformation process of LCEAs with precision.

关键词： Liquid crystal elastomer actuator dynamic modeling hysteresis Prandtl-Ishlinskii model

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motion Analysis and modeling of Pneumatic Bellows Robotic Arm

Motion Analysis and Modeling of Pneumatic Bellows Robotic Ar...

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第43届中国控制会议

作者： Shu Luo Jundong Wu Huai Xiao Chun-Yi Su Daiki Sato Jinhua She Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Laboratory for Future Interdisciplinary Research of science and Technology (FIRST) Tokyo Institute of Technology Gina Cody School of Engineering and Computer science Concordia University The School of Engineering Tokyo University of Technology

Pneumatic soft robots are increasingly valued for their lightweight, flexibility and adaptability to complex environments. Among various structures, pneumatic soft robotic arm is widely used in the fields of medical rehabilitation,complex terrain exploration, and service industry, etc., making it a popular form of pneumatic soft robots. In practical applications, precise control of soft robotic arms is very important, which requires a complete understanding of their motion patterns and corresponding modelling. However, due to their nonlinearity, the motion patterns of soft robotic arms are complex,which makes the motion analysis and modeling of the soft robotic arm a challenging topic. Based on the above considerations,this paper analyzes the motion of a pneumatic soft robotic arm and develops a prediction model for its input-output characteristics. First, we introduce the basic structure and experimental platform of a pneumatic soft robotic arm, after that, we analyze its performances including spatial reach, response time and bending angle, and designed an application experiment based on the results of the analysis. In the end, we use BP neural network to establish a model of the input air pressure and the end coordinates, and the accuracy of the model was verified through experiments.

关键词： Soft robot Pneumatic bellows robotic arm motion analysis Neural network

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