로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제17권1호
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  • Pages.68-75
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  • 2022
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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이중 곡률 쉘 모양의 소프트 회전 액추에이터 변형에 대한 수식적 접근

Analytical Approach to Deformation of a Soft Rotary Actuator with Double Curvature Shell Shape

  • 투고 : 2021.12.30
  • 심사 : 2022.01.20
  • 발행 : 2022.02.28
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초록

In this paper, we considered the deformation shape of the soft rotation actuator as a double curvature shell and proceeded with the analytical development. Since the response of the hyperelastic material has a large nonlinear deformation, the analytical approach is very complicated and the solution cannot be easily obtained. it is assumed that the behavior of the flexible body, which is a superelastic material, takes the form of a double curvature shell, and the formulas for calculating the deformation are simplified. In this process, equilibrium equations in the related coordinate system representing a double curvature shell were derived. In addition, assuming a thin shell, the stress component in the thickness direction was ignored, and the equation was developed by adding the assumption of free rotation without load. In order to verify the analytically calculated value in this way, an experiment was conducted and the results were compared.

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과제정보

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2020R1A4A1018227)

참고문헌

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