.png){kind=icon}
返回
Three-Dimensional Dynamics for Cable-Driven Soft Manipulator
.png){kind=icon}
PRE
AI
DOI：10.1109/TMECH.2016.2606547.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
A soft manipulator usually has infinite joints. The infinite DOFs of a soft manipulator make it impossible to build the mechanical model like traditional rigid manipulator. The dynamic model based on circular arcs assumption, proposed by previous literature, does not take torsion into consideration. The introduction of torsion to piecewise constant curvature assumption could improve accuracy for 3-D motion, but it still cannot deal with problems with normal strain and viscidity of soft material, especially when the Young's Modulus is small. In this paper, by combining the geometrically exact Cosserat rod theory and Kelvin model, a new mechanical model for a silicone rubber soft manipulator is proposed. Two vectors, curvature vector and strain vector, are used to depict the bending and torsion effect, and normal strain. Both 2-D and 3-D experiments are performed to verify the mechanical model.
Keyword:
Cable driven
manipulator dynamics
soft robots
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
I
IF:
7.3
论文数:
5.4K
被引数:
2.4W
机构
引用论文
.png){kind=icon}
分享收藏
查看更多内容