Development of a fast and stable dynamics algorithm for soft robots including viscoelastic body
In recent years, research and development of robots that exist in the same space as humans and can collaborate with humans have been actively carried out. If the body of a robot is made of a hard material, it may cause injury. Therefore, attempts have been made to make a robot with a soft body using...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | Japanese |
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The Japan Society of Mechanical Engineers
2023-05-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/89/921/89_22-00316/_pdf/-char/en |
| _version_ | 1797817344952631296 |
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| author | Yoshiki MAEDA Shunsuke IDE Yeongju BAEK Kodai RYOMOTO Asahi NAKATSURU Makoto IWAMURA |
| author_facet | Yoshiki MAEDA Shunsuke IDE Yeongju BAEK Kodai RYOMOTO Asahi NAKATSURU Makoto IWAMURA |
| author_sort | Yoshiki MAEDA |
| collection | DOAJ |
| description | In recent years, research and development of robots that exist in the same space as humans and can collaborate with humans have been actively carried out. If the body of a robot is made of a hard material, it may cause injury. Therefore, attempts have been made to make a robot with a soft body using rubber or resin. In order to accelerate such research on soft robotics, it is necessary to establish fast and stable simulation algorithm for robots containing viscoelastic bodies such as rubber and resin. Therefore, in this study, we consider to approximate viscoelastic bodies with finite rigid body segments and connect them with joints and linear viscoelastic elements such as Voigt model, Maxwell model and generalized Maxwell model to approximate viscoelastic properties. The recursive dynamics algorithm is used to speed up the calculation, and the generalized-α method is used to stabilize the numerical integration. In particular, we propose a new method on how to incorporate the Maxwell model and generalized Maxwell model into recursive dynamics algorithm and generalized-α method. The effectiveness of the proposed method is confirmed by some numerical examples. In addition, the effectiveness of the proposed method is verified on a real system by applying Particle Swarm Optimization (PSO) to identify the dynamic parameters in linear viscoelastic elements. |
| first_indexed | 2024-03-13T08:53:03Z |
| format | Article |
| id | doaj.art-3cffa3bd5b9f4b16854f392782b3245c |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-03-13T08:53:03Z |
| publishDate | 2023-05-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-3cffa3bd5b9f4b16854f392782b3245c2023-05-29T07:33:06ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612023-05-018992122-0031622-0031610.1299/transjsme.22-00316transjsmeDevelopment of a fast and stable dynamics algorithm for soft robots including viscoelastic bodyYoshiki MAEDA0Shunsuke IDE1Yeongju BAEK2Kodai RYOMOTO3Asahi NAKATSURU4Makoto IWAMURA5Graduate School of Engineering, Fukuoka UniversityGraduate School of Engineering, Fukuoka UniversityGraduate School of Engineering, Fukuoka UniversityGraduate School of Engineering, Fukuoka UniversityGraduate School of Engineering, Fukuoka UniversityDepartment of Mechanical Engineering, Fukuoka UniversityIn recent years, research and development of robots that exist in the same space as humans and can collaborate with humans have been actively carried out. If the body of a robot is made of a hard material, it may cause injury. Therefore, attempts have been made to make a robot with a soft body using rubber or resin. In order to accelerate such research on soft robotics, it is necessary to establish fast and stable simulation algorithm for robots containing viscoelastic bodies such as rubber and resin. Therefore, in this study, we consider to approximate viscoelastic bodies with finite rigid body segments and connect them with joints and linear viscoelastic elements such as Voigt model, Maxwell model and generalized Maxwell model to approximate viscoelastic properties. The recursive dynamics algorithm is used to speed up the calculation, and the generalized-α method is used to stabilize the numerical integration. In particular, we propose a new method on how to incorporate the Maxwell model and generalized Maxwell model into recursive dynamics algorithm and generalized-α method. The effectiveness of the proposed method is confirmed by some numerical examples. In addition, the effectiveness of the proposed method is verified on a real system by applying Particle Swarm Optimization (PSO) to identify the dynamic parameters in linear viscoelastic elements.https://www.jstage.jst.go.jp/article/transjsme/89/921/89_22-00316/_pdf/-char/enmultibody dynamicsviscoelasticityrecursive algorithmgeneralized-α methodmaxwell modelgeneralized maxwell modelparticle swarm optimization |
| spellingShingle | Yoshiki MAEDA Shunsuke IDE Yeongju BAEK Kodai RYOMOTO Asahi NAKATSURU Makoto IWAMURA Development of a fast and stable dynamics algorithm for soft robots including viscoelastic body Nihon Kikai Gakkai ronbunshu multibody dynamics viscoelasticity recursive algorithm generalized-α method maxwell model generalized maxwell model particle swarm optimization |
| title | Development of a fast and stable dynamics algorithm for soft robots including viscoelastic body |
| title_full | Development of a fast and stable dynamics algorithm for soft robots including viscoelastic body |
| title_fullStr | Development of a fast and stable dynamics algorithm for soft robots including viscoelastic body |
| title_full_unstemmed | Development of a fast and stable dynamics algorithm for soft robots including viscoelastic body |
| title_short | Development of a fast and stable dynamics algorithm for soft robots including viscoelastic body |
| title_sort | development of a fast and stable dynamics algorithm for soft robots including viscoelastic body |
| topic | multibody dynamics viscoelasticity recursive algorithm generalized-α method maxwell model generalized maxwell model particle swarm optimization |
| url | https://www.jstage.jst.go.jp/article/transjsme/89/921/89_22-00316/_pdf/-char/en |
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