用人工肌肉模拟章鱼臂水下弯曲，建模其受力变形机制
Quasi-Static Continuum Model of Octopus-Like Soft Robot Arm Under Water Actuated by Twisted and Coiled Artificial Muscles (TCAMs)
- 基于杆理论构建连续体模型，考虑截面平面内变形
- 人工肌肉可产生自重12600倍拉力，接近生物肌肉性能
- 适合软体机器人、水下作业系统研究者参考
本研究定性探讨了采用扭曲缠绕人工肌肉（TCAMs）驱动并复现水下章鱼状软体机械臂弯曲运动的可行性。同时考察了稳态流体流动产生的静水与动水力对臂部运动的影响。人工肌肉为轻质低成本执行器，具备高功率重量比，最大拉力可达自身重量的12,600倍，接近生物肌肉功能。采用扩展的杆类柯西尔特理论建立臂部准静态连续体模型，使臂截面不仅能刚性旋转，还可在其平面内发生形变。该平面变形机制符合章鱼臂生物特性，其刚度由组织不可压缩性直接引发。为实现主要目标，推导出章鱼臂材料的本构模型以捕捉其典型行为。
原文摘要 · Abstract (English)
The current work is a qualitative study that aims to explore the implementation of Twisted and Coiled Artificial Muscles (TCAMs) for actuating and replicating the bending motion of an octopus-like soft robot arm underwater. Additionally, it investigates the impact of hydrostatic and dynamic forces from steady-state fluid flow on the arm's motion. The artificial muscles are lightweight and low-cost actuators that generate a high power-to-weight ratio, producing tensile force up to 12,600 times their own weight, which is close to the functionality of biological muscles. The "extended" Cosserat theory of rods is employed to formulate a quasi-static continuum model of arm motion, where the arm's cross-section is not only capable of rigid rotation but also deforms within its plane. This planar deformation of the arm cross-section aligns with the biological behavior of the octopus arm, where the stiffness of the hydrostat is directly induced by the incompressibility of the tissues. In line with the main goal, a constitutive model is derived for the material of the octopus arm to capture its characteristic behavior.
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