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Continuous models for peristaltic locomotion with application to worms and soft robots.
Biomechanics and Modeling in Mechanobiology ( IF 3.0 ) Pub Date : 2020-07-10 , DOI: 10.1007/s10237-020-01365-w
Evan G Hemingway 1 , Oliver M O'Reilly 1
Affiliation  

A continuous model for the peristaltic locomotion of compressible and incompressible rod-like bodies is presented. Using Green and Naghdi’s theory of a directed rod, incompressibility is enforced as an internal constraint. A discussion on muscle actuation models for a single continuum is included. The resulting theory is demonstrated in a simulation of a soft-robotic device. In addition, a calibration of parameters is performed and the incompressible rod is validated against a biomimetic model of earthworm locomotion.



中文翻译:

应用于蠕虫和软机器人的蠕动运动的连续模型。

提出了可压缩和不可压缩棒状体蠕动运动的连续模型。使用格林和纳格迪的定向杆理论,不可压缩性被强制作为内部约束。包括对单一连续体的肌肉驱动模型的讨论。由此产生的理论在软机器人设备的模拟中得到了证明。此外,还进行了参数校准,并针对蚯蚓运动的仿生模型验证了不可压缩杆。

更新日期:2020-07-13
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