华中科技大学学报（自然科学版）Issue(z1)：389-392,4.DOI:10.13245/j.hust.15S1092
基于微梁理论的线驱动仿生章鱼臂角度控制
Angle control of tendon-driven soft manipulator inspired by octopus arm based on cosserat beam
摘要
Abstract
A mathematical modeling about tendon-driven soft manipulator inspired by the octopus arm has been built,which based on the theory of cosserat beam.Then the angle control of bent arm was obtained by Matlab.On the basis of three-dimensional steady-state octopus manipulator,the deforma-tion was described through differential equations.This model is able to quickly respond to the input and outputs a desired bending angle.Utilizing the correlation analysis to compare the slope of input curve with output curve,then the result shows that 0.901 8.The result demonstrates higher accuracy and the model has practical significance.The model also can be used as a powerful design tool for many kinds of slender continuum manipulators driven by tendons because of its generality.关键词
章鱼臂/微梁理论/线驱动/三维稳态模型/角度控制Key words
octopus arm/cosserat beam/tendon-driven/three-dimensional steady-state model/angle control分类
信息技术与安全科学引用本文复制引用
吴秋轩,袁文婷,迟晓妮..基于微梁理论的线驱动仿生章鱼臂角度控制[J].华中科技大学学报（自然科学版）,2015,(z1):389-392,4.基金项目
浙江省自然科学基金资助项目（LQ15F030008，LY16F030007）；浙江省教育厅项目（Y201430906）． （）
