The inherent flexibility, the small dimensions as well curvilinear shape of continuum robots makes it challenging to precisely measure their shape. Optical fibers with Bragg gratings (FBGs) provide a powerful tool reconstruct centerline robots. We present theoretical model determine such sensor array based on longitudinal strain measurements and incorporating bending, twisting, elongation. To v...

A circular elastic disk is coated with an beam, absorbing shear and normal forces without deformation linearly reacting to a bending moment change in curvature. The inextensibility of the beam introduces isoperimetric constraint, so that length initial circumference constrained remain fixed during loading disk/coating system. mechanical model for this system formulated, solved general loading, ...

Cosserat type continuum theories have been employed bymany authors to study cracks in elastic solids with microstructures. Depending on which theory was used, different crack tip stress singularities have been obtained. In this paper, a microstructure continuum theory is used to model a layered elastic medium containing a crack parallel to the layers. The crack problem is solved by means of the...

Considering the importance of correctly understanding dynamics microstructure materials for their applications in related technologies, by eliminating shortcomings and some overlooked physical concepts existing asymmetric elastic theories, we have presented an elastodynamic model based on a U(1) gauge theory with quantum electrodynamics (QED) structure. Accordingly, shown that there is correspo...

This article explores the relationship between optimal control and Cosserat beam theory from perspective of solving forward inverse dynamics (and statics as a subcase) continuous manipulators snake-like bioinspired locomotors. By invoking principle minimum potential energy Gauss least constraint, it is shown that quasi-static dynamic evolutions these robots are solutions problems in space varia...