A5047438717- Soft Robotics and Applications
- Aerospace Engineering and Energy Systems
- Robot Manipulation and Learning
- Prosthetics and Rehabilitation Robotics
- Biomimetic flight and propulsion mechanisms
- Micro and Nano Robotics
- Cavitation Phenomena in Pumps
- Robotic Locomotion and Control
- Teleoperation and Haptic Systems
- Advanced Materials and Mechanics
- Innovations in Concrete and Construction Materials
- Aerodynamics and Fluid Dynamics Research
- Fluid Dynamics Simulations and Interactions
- Underwater Vehicles and Communication Systems
- Fluid Dynamics and Vibration Analysis
- Hydraulic and Pneumatic Systems
Shenyang University of Technology
2022-2025
The modeling and design of soft pneumatic actuators is a key direction in robotics research, aiming to develop flexible efficient adapt complex applications. However, theoretical studies for multi-degree-of-freedom are less frequent still challenging. In this paper, actuator (MDoF SPA) composed multiple oblique chamber units hollow cylinder structure designed fabricated. It could realize bending motion the same module, especially twisting both directions. Based on Yeoh model, not only...
Drawing on the driving mechanism of biological muscles and combining nonlinear hyperelastic characteristics silicone rubber, a multi-degree-of-freedom pneumatic soft bionic actuator is designed, which can be used as executing for robots robotic arms. Using response surface analysis numerical simulation algorithms, optimal combination structural dimensions parameters determined with maximum bending torsion angles output by optimization objectives. Based idea flexible Piecewise Constant...
Using bidirectional fluid-structure interaction technology, the dorsal-ventral motion of dolphin tail fin was simulated, and feasibility numerical simulation method validated through underwater experiments. This study investigated effects structural parameters modes bionic fins on their propulsion performance. The results show that flexible can enhance Compared to equal-thickness fins, variable-thickness conform characteristics real exhibit better Asymmetric have a certain thrust-enhancing...
To achieve the accuracy and anti-interference of motion control soft robot more effectively, strategy pneumatic bionic based on improved Central Pattern Generator (CPG) is proposed. According to structure characteristics robot, a two-layer neural network topology model for constructed by coupling 22 Hopfield neuron nonlinear oscillators. Then, Adaptive Neuro-Fuzzy Inference System (ANFIS), membership functions are offline learned trained construct CPG-ANFIS-PID robot. Through simulation...
To meet the requirements of amphibious exploration, ocean and military reconnaissance tasks, a pneumatic soft bionic robot was developed by taking advantage structural characteristics, motion forms, propulsion mechanisms sea lion fore-flippers, inchworms, Carangidae tails, dolphin tails. Using silicone rubber as main material robot, combined with driving mechanism actuator, based on theory design, systematic design carried out from aspects flippers, tail, head–neck, trunk. Then, numerical...
In order to enhance the environmental adaptability of peristaltic soft-bodied pipe robots, based on nonlinear and hyperelastic characteristics silicone rubber combined with biological structure motion worms, a hexagonal prism bionic actuator is proposed. The adopts different inflation patterns produce deformations, so that robot can realize modes in pipeline. Based Yeoh binomial parameter constitutive model, deformation analysis model established, numerical simulation algorithm used ensure...
A bi-directional fluid-solid interaction method is used to simulate the "8" shape motion of hydrofoil a bionic penguin. The feasibility numerical simulation verified by building an experimental platform. effects forward and backward paddling (no front back F0, symmetrical F1, asymmetrical F2) flexibility (high, medium, low intervals) on propulsion performance are considered. results show that best obtained in medium ranges for F0 range F2. At same flexibility, achieves propulsive efficiency...