DYNAMIC MODELING FOR A CONTINUUM ROBOT WITH COMPLIANT STRUCTURE

被引：0

作者：

Guo, Yong ^{[1
]}

Kang, Rongjie ^{[1
]}

Chen, Lisha ^{[2
]}

Dai, Jian ^{[3
]}

机构：

[1] Tianjin Univ, Sch Mech Engn, Minist Educ, Key Lab Mech Theory & Equipment Design, Tianjin, Peoples R China

[2] Tianjin Polytech Univ, Sch Mech Engn, Tianjin, Peoples R China

[3] Kings Coll London, Sch Phys Sci & Engn, Dept Mech Engn, London, England

来源：

INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2015, VOL 5A | 2016年

关键词：

OCTOPUS ARM;

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.

引用

页数：8

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