Paper Info
Title
Modeling, Simulation And Experimental Validation Of A Tendon-Driven Soft-Arm Robot Configuration - A Continuum Mechanics Method
Abstract
This paper presents the mathematical derivation and experimental validation of a computational model, which accurately predicts static, large-strain deformations of tendon driven non-slender soft-arm manipulators subjected to gravity. The large strain behaviors are captured by employing the Green-Lagrange strain and by deriving analytical expressions for the variation of the equivalent Young modulus of the structure due to the large strains. No simplifying assumptions are made regarding the curvature of the structure, the stretching or the compression. Furthermore the paper proposes an iterative method for numerically solving the resultant non-linear system of coupled differential equations and demonstrates a number of application scenarios. The model is experimentally validated using a set-up comprising one segment of tendon driven soft-arm, which integrates stretchable and compressible hyperelastic (rubber-type) materials into its non-homogeneous back bone structure.
Year
DOI
Venue
2019
10.1109/IROS40897.2019.8968556
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Compressibility,Compression (physics),Hyperelastic material,Curvature,Computer science,Iterative method,Modeling and simulation,Continuum mechanics,Young's modulus,Control engineering,Mechanics
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Nikolaos Charalampos Chairopoulos100.34
Panagiotis Vartholomeos2333.71
Evangelos Papadopoulos3725107.68