A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms
نویسندگان
چکیده
منابع مشابه
Experimental Identification and Hybrid PID-Fuzzy Position Control of Continuum Robotic Arms
Continuum robotic arms that are inspired from nature, have many advantages compared to traditional robots, which motivate researchers in this field. Dynamic modeling and controlling these robots are challenging subjects due to complicated nonlinearities and considerable uncertainties existing in these structures. In this paper, first a dynamic three-dimensional model of the continuum robotic ar...
متن کاملA Continuum Model For Stone-wales Defected Carbon Nanotubes
In this paper, a continuum model is proposed so that a Stone-Wales (SW) defected carbon nanotube (CNT) is replaced by an initial circumferential crack in a continuum cylindrical shell. For this purpose, the critical energy release rate and then the fracture toughness of a defected CNT are calculated using the results of an existing atomistic-based continuum finite element simulation. Finally, t...
متن کاملContinuum Robot Arms Inspired by Cephalopods
In this paper, we describe our recent results in the development of a new class of soft, continuous backbone (“continuum”) robot manipulators. Our work is strongly motivated by the dexterous appendages found in cephalopods, particularly the arms and suckers of octopus, and the arms and tentacles of squid. Our ongoing investigation of these animals reveals interesting and unexpected functional a...
متن کاملA Geometry Deformation Model for Braided Continuum Manipulators
1 Center for Robotics Research (CoRe), Department of Informatics, King’s College London, London, United Kingdom, 2 School of Engineering and Material Science, Queen Mary University of London, London, United Kingdom, 3 Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, United States, 4 Dyson School of Design Engineering, Imperial College London, London, United Ki...
متن کاملA continuum model for platelet plug formation, growth and deformation.
A numerical framework for modelling platelet plug dynamics is presented in this work. It consists of an extension of a biochemical and plug growth model with a solid mechanics model for the plug coupled with a fluid-structure interaction model for the blood flow-plug system. The platelet plug is treated as a neo-Hookean elastic solid, of which the implementation is based on an updated Lagrangia...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Mechanisms and Robotics
سال: 2019
ISSN: 1942-4302,1942-4310
DOI: 10.1115/1.4045037