Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots
Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots
复制标题
开发 3D 集总质量模型来呈现基于大变形表面的连续体机器人的行为
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
D. Branson
中科院分区：
文献类型：
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作者：
Hossein Habibi;Rongjie Kang;I. Walker;I. Godage;D. Branson
连续体机器人表面的部署在广泛的工程学科中具有强大的潜力。为了允许精确和有效地控制这种柔性主动致动表面，需要可靠的运动学和动力学模型。主要的挑战出现时，连续体表面变得非常灵活，并进行大的变形，这是一个问题，这是很少研究连续体机器人的日期。本文解决了这个问题，通过应用集中质量的方法进行分析的连续体表面，受到大变形，由于重力或外部负载所施加的代表性的柔性致动器。所开发的模型描述了表面的运动学，通过提供一种手段来解决整个表面的位移轮廓。该模型考虑了所有的基本因素，如重力效应，柔性板的材料特性，惯性力，材料阻尼，和整个表面的深度剪切效应。已开发的实验装置来测试驱动的柔性表面在不同的边界条件下，结果显示在测量表面点的平均百分比误差为4.8%。
The deployment of continuum robotic surfaces has strong potential over a wide range of engineering disciplines. To allow such compliant, actively actuated surfaces to be controlled accurately and efficiently, reliable kinematic and dynamic models are required. The main challenge appears when the continuum surfaces become very flexible and undergo large deformations, an issue which is little studied in continuum robotics to date. This paper tackles this problem through the application of a lumped-mass approach for analysis of continuum surfaces that are subject to large deformations due to either gravity or external loading applied by representative flexible actuators. The developed model describes the surface kinematics by providing a means of solving for the displacement profile across the surface. The model takes into account all the essential factors such as gravitational effects, material properties of a flexible plate, inertial forces, material damping, and in-depth shear effects across the surface. An experimental setup has been developed to test an actuated flexible surface under different boundary conditions, with results showing mean percentage error of 4.8% at measured surface points.
影响因子：
7.8
作者：
Burgner-Kahrs, Jessica;Rucker, D. Caleb;Choset, Howie
通讯作者：
Choset, Howie