Modelling Handed Shearing Auxetics: Selective Piecewise Constant Strain Kinematics and Dynamic Simulation

Conference Paper (2023)
Author(s)

Maximilian Stölzle (TU Delft - Learning & Autonomous Control)

Lillian Chin (Massachusetts Institute of Technology)

Ryan Truby (Northwestern University)

Daniela Rus (Massachusetts Institute of Technology)

Jenny Lieu (TU Delft - Learning & Autonomous Control)

Research Group
Learning & Autonomous Control
Copyright
© 2023 Maximilian Stölzle, Lillian Chin, Ryan Truby, Daniela Rus, C. Della Santina
DOI related publication
https://doi.org/10.1109/RoboSoft55895.2023.10121989
More Info
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Publication Year
2023
Language
English
Copyright
© 2023 Maximilian Stölzle, Lillian Chin, Ryan Truby, Daniela Rus, C. Della Santina
Research Group
Learning & Autonomous Control
Pages (from-to)
1-8
ISBN (print)
979-8-3503-3223-0
ISBN (electronic)
979-8-3503-3222-3
Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Abstract

Electrically-actuated continuum soft robots based on Handed Shearing Auxetics (HSAs) promise rapid actuation capabilities while preserving structural compliance. However, the foundational models of these novel actuators required for precise control strategies are missing. This paper proposes two key components extending discrete Cosserat rod model (DCM) to allow for modeling HSAs. First, we propose a mechanism for incorporating the auxetic trajectory into DCM dynamical simulations. We also propose an implementation of this extension as a plugin for the Elastica simulator. Second, we introduce a Selective Piecewise Constant Strain (SPCS) kinematic parameterization that can describe an HSA segment's shape with fewer configuration variables. We verify both theoretical contributions experimentally. The simulator is used to replicate experimental data of the mechanical characterization of HSA rods. For the second component, we attach motion capture markers at various points to a parallel HSA robot and find that the shape of the HSAs can be kinematically represented with an average accuracy of 0.3 mm for positions and 0.07 rad for orientations.

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