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

Maximilian Stolzle, Lillian Chin, Ryan L. Truby, Daniela Rus, Cosimo Della Santina

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

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.

Original languageEnglish (US)
Title of host publication2023 IEEE International Conference on Soft Robotics, RoboSoft 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350332223
DOIs
StatePublished - 2023
Event2023 IEEE International Conference on Soft Robotics, RoboSoft 2023 - Singapore, Singapore
Duration: Apr 3 2023Apr 7 2023

Publication series

Name2023 IEEE International Conference on Soft Robotics, RoboSoft 2023

Conference

Conference2023 IEEE International Conference on Soft Robotics, RoboSoft 2023
Country/TerritorySingapore
CitySingapore
Period4/3/234/7/23

Funding

The work by Maximilian Stolzle was in part supported under the European Union s Horizon Europe Program from Project EMERGE - Grant Agreement No. 101070918. We thank I. Good and J. Lipton from the University of Washington, U.S. for sharing the mechanical characterisation published in [6]. We also acknowledge S. Joshi from the Delft University of Technology, NL for their valuable guidance on attaching reflective markers to the HSA. The work by Maximilian Stölzle was in part supported under the European Union’s Horizon Europe Program from Project EMERGE - Grant Agreement No. 101070918.

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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