现代电子技术2024，Vol.47Issue(14)：115-121,7.DOI:10.16652/j.issn.1004-373x.2024.14.018
水下软体蛇三维转向机构设计及仿真
Design and simulation of three-dimensional steering mechanism for submersible soft robot
摘要
Abstract
In allusion to the current challenge of achieving three-dimensional steering in underwater soft robotic snakes,a three-dimensional steering mechanism underwater is designed.The mechanism is validated by means of ABAQUS finite element simulation software,and simulation data are utilized to calibrate the relationships between azimuth angles during mechanism deformation and the ratio of load pressure,and between bending angles,benchmark pressure,and pressure ratio,so as to establish an open-loop control model that associates load pressure with bending angle and direction.The control algorithm is used to control the three-dimensional steering mechanism,which can achieve steering at any angle in space.The simulaton results show that this design can perform well in steering control at any angle,with a maximum bending angle error of 1.310 71° and an azimuth angle error of 3.604 89° within the range of 0° to 60°.In control simulations,the maximum error rates for bending and azimuth angles are 2.185%and 1.001%,respectively.The simulation results demonstrate the scalability of this design,providing theoretical support for the realization of three-dimensional steering in soft robotic snakes.关键词
软体蛇形机器人/三维转向/ABAQUS/有限元仿真/开环控制模型/载荷压力/参数标定Key words
soft snake-like robot/three-dimensional steering/ABAQUS/finite element simulation/open-loop control model/load pressure/parameter calibration分类
信息技术与安全科学引用本文复制引用
孟亚莉,崔文龙,史航..水下软体蛇三维转向机构设计及仿真[J].现代电子技术,2024,47(14):115-121,7.基金项目
上海市自然科学基金项目(19ZR1455500) （19ZR1455500）
