| Full text | |
| Author(s): |
Total Authors: 3
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| Affiliation: | [1] Univ Sao Paulo, Sao Carlos Sch Engn, Av Trab Sao Carlense, 400 Parque Arnold Schimidt, BR-13566590 Sao Carlos - Brazil
Total Affiliations: 1
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| Document type: | Journal article |
| Source: | JOURNAL OF VIBRATION AND CONTROL; OCT 2021. |
| Web of Science Citations: | 0 |
| Abstract | |
This work proposes a novel methodology for planning the motion of fish-like soft robots actuated by macro-fiber composite (MFC) pairs. These structures should mimic oscillatory and undulation movements, which can be accomplished if the amplitude of the tail motion is larger than that of the head motion. Design strategies, such as the use of concentrated and distributed masses, are addressed to mimic fish-like motion since they guarantee suitable mode shapes for the structure. The motion planning proposal explores a model-based predictive control (MPC) strategy for deriving the input signals for the MFC actuators. This model-based control strategy requires the use of reasonably small-sized models. This is accomplished by extracting modal state-space models based on the free-free Euler-Bernoulli beam theory considering the electro-mechanical coupling of the MFC actuator pairs. Numerical results demonstrate the capability of the proposal for deriving bounded input signals that generate oscillatory and undulation movements even in the presence of disturbances. This general approach can be further extended for other applications. (AU) | |
| FAPESP's process: | 18/15894-0 - Periodic structure design and optimization for enhanced vibroacoustic performance: ENVIBRO |
| Grantee: | Carlos de Marqui Junior |
| Support Opportunities: | Research Projects - Thematic Grants |
| FAPESP's process: | 18/21336-0 - Towards high speed parallel kinematic machines, Phase II: instrumentation, modeling and control of a flexible manipulator |
| Grantee: | Maira Martins da Silva |
| Support Opportunities: | Regular Research Grants |