Kinematic Modeling of Handed Shearing Auxetics via Piecewise Constant Curvature

Handed Shearing Auxetics (HSA) are a promising technique for making motor-driven, soft, continuum robots. Many potential applications from inspection tasks to solar tracking require accurate kinematic models to predict the position and orientation of these structures. Currently there are no models f...

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Bibliographic Details
Published in2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) pp. 423 - 430
Main Authors Garg, Aman, Good, Ian, Revier, Daniel, Airis, Kevin, Lipton, Jeffrey
Format Conference Proceeding
LanguageEnglish
Published IEEE 04.04.2022
Subjects
Adaptation models
Auxetic materials
Conferences
Couplings
Inspection
Kinematics
Soft robotics
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Summary:Handed Shearing Auxetics (HSA) are a promising technique for making motor-driven, soft, continuum robots. Many potential applications from inspection tasks to solar tracking require accurate kinematic models to predict the position and orientation of these structures. Currently there are no models for HSA based continuum platforms. To address this gap we propose to adapt Piecewise Constant Curvature (PCC) Models using a length change coupling matrix. This models the interaction of HSA structures in a 2\times 2 array. The coupling matrix maps the change in motor angles to length changes and defines the configuration space in our modified PCC Model. We evaluate our model on a composite movement encompassing bending, extension and compression behavior. Our model achieves a positional accuracy with mean error of 5.5mm or 4.5% body length and standard deviation of 1.72mm. Further, we achieve an angular accuracy with mean error of −2.8° and standard deviation of 1.9°.
DOI:10.1109/RoboSoft54090.2022.9762141