机器人2025，Vol.47Issue(5)：646-656,11.DOI:10.13973/j.cnki.robot.240122
基于梁单元的曲面软体机器人简化力学模型
Reduced Order Model for Soft Robotic Surface Based on Beam Elements
摘要
Abstract
For a type of soft robotic surface capable of freeform deformation,a reduced order model based on beam elements and nonlinear finite element theory is proposed.Firstly,specialized beam elements are used to discretize the soft robotic surface.Secondly,Newton-Raphson iteration method is employed to solve the nonlinear deformation process.This paper also derives the inverse mapping from global geometric features to the local contraction of each artificial muscle.Numerical calculation and simulation results show the reduced order model provides an efficient computational framework for the modeling,simulation,and control of the soft robotic surface.关键词
软体机器人/简化力学模型/梁单元/非线性有限元Key words
soft robot/reduced order model/beam element/nonlinear finite element引用本文复制引用
程屹涛,杨焕煜,刘珂..基于梁单元的曲面软体机器人简化力学模型[J].机器人,2025,47(5):646-656,11.基金项目
国家重点研发计划(2022YFB4701900). （2022YFB4701900）
