A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms

Hossein Habibi, Chenghao Yang, Isuru S, Godage, Rongjie Kang, Ian D. Walker, David Branson

Research output: Contribution to journalArticle

13 Downloads (Pure)

Abstract

Currently, flexible surfaces enabled to be actuated by robotic arms are experiencing high interest and demand for robotic applications in various areas such as healthcare, automotive, aerospace, and manufacturing. However, their design and control thus far has largely been based on ‘trial and error’ methods requiring multiple trials and/or high levels of user specialization. Robust methods to realize flexible surfaces with the ability to deform into large curvatures therefore require a reliable, validated model that takes into account many physical and mechanical properties including elasticity, material characteristics, gravity, external forces and thickness shear effects. The derivation of such a model would then enable the further development of predictive based control methods for flexible robotic surfaces. This paper presents a lumped-mass model for flexible surfaces undergoing large deformation due to actuation by continuum robotic arms. The resulting model includes mechanical and physical properties for both the surface and actuation elements to predict deformation in multiple curvature directions and actuation configurations. The model is validated against an experimental system where measured displacements between the experimental and modelling results showed considerable agreement with a mean error magnitude of about 1% of the length of the surface at the final deformed shapes.
Original languageEnglish
Article number011014
Pages (from-to)1-12
Number of pages12
JournalJournal of Mechanisms and Robotics
Volume12
Issue number1
Early online date22 Oct 2019
DOIs
Publication statusE-pub ahead of print - 22 Oct 2019

Fingerprint

Robotic arms
Robotics
Physical properties
Mechanical properties
Elasticity
Gravitation

Cite this

Habibi, Hossein ; Yang, Chenghao ; Godage, Isuru S, ; Kang, Rongjie ; Walker, Ian D. ; Branson, David. / A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms. In: Journal of Mechanisms and Robotics. 2019 ; Vol. 12, No. 1. pp. 1-12.
@article{4ef568a8a16b4c429f9035e2a0382670,
title = "A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms",
abstract = "Currently, flexible surfaces enabled to be actuated by robotic arms are experiencing high interest and demand for robotic applications in various areas such as healthcare, automotive, aerospace, and manufacturing. However, their design and control thus far has largely been based on ‘trial and error’ methods requiring multiple trials and/or high levels of user specialization. Robust methods to realize flexible surfaces with the ability to deform into large curvatures therefore require a reliable, validated model that takes into account many physical and mechanical properties including elasticity, material characteristics, gravity, external forces and thickness shear effects. The derivation of such a model would then enable the further development of predictive based control methods for flexible robotic surfaces. This paper presents a lumped-mass model for flexible surfaces undergoing large deformation due to actuation by continuum robotic arms. The resulting model includes mechanical and physical properties for both the surface and actuation elements to predict deformation in multiple curvature directions and actuation configurations. The model is validated against an experimental system where measured displacements between the experimental and modelling results showed considerable agreement with a mean error magnitude of about 1{\%} of the length of the surface at the final deformed shapes.",
author = "Hossein Habibi and Chenghao Yang and Godage, {Isuru S,} and Rongjie Kang and Walker, {Ian D.} and David Branson",
year = "2019",
month = "10",
day = "22",
doi = "10.1115/1.4045037",
language = "English",
volume = "12",
pages = "1--12",
journal = "Journal of Mechanisms and Robotics",
issn = "1942-4302",
publisher = "American Society of Mechanical Engineers(ASME)",
number = "1",

}

A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms. / Habibi, Hossein; Yang, Chenghao; Godage, Isuru S,; Kang, Rongjie; Walker, Ian D.; Branson, David.

In: Journal of Mechanisms and Robotics, Vol. 12, No. 1, 011014, 22.10.2019, p. 1-12.

Research output: Contribution to journalArticle

TY - JOUR

T1 - A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms

AU - Habibi, Hossein

AU - Yang, Chenghao

AU - Godage, Isuru S,

AU - Kang, Rongjie

AU - Walker, Ian D.

AU - Branson, David

PY - 2019/10/22

Y1 - 2019/10/22

N2 - Currently, flexible surfaces enabled to be actuated by robotic arms are experiencing high interest and demand for robotic applications in various areas such as healthcare, automotive, aerospace, and manufacturing. However, their design and control thus far has largely been based on ‘trial and error’ methods requiring multiple trials and/or high levels of user specialization. Robust methods to realize flexible surfaces with the ability to deform into large curvatures therefore require a reliable, validated model that takes into account many physical and mechanical properties including elasticity, material characteristics, gravity, external forces and thickness shear effects. The derivation of such a model would then enable the further development of predictive based control methods for flexible robotic surfaces. This paper presents a lumped-mass model for flexible surfaces undergoing large deformation due to actuation by continuum robotic arms. The resulting model includes mechanical and physical properties for both the surface and actuation elements to predict deformation in multiple curvature directions and actuation configurations. The model is validated against an experimental system where measured displacements between the experimental and modelling results showed considerable agreement with a mean error magnitude of about 1% of the length of the surface at the final deformed shapes.

AB - Currently, flexible surfaces enabled to be actuated by robotic arms are experiencing high interest and demand for robotic applications in various areas such as healthcare, automotive, aerospace, and manufacturing. However, their design and control thus far has largely been based on ‘trial and error’ methods requiring multiple trials and/or high levels of user specialization. Robust methods to realize flexible surfaces with the ability to deform into large curvatures therefore require a reliable, validated model that takes into account many physical and mechanical properties including elasticity, material characteristics, gravity, external forces and thickness shear effects. The derivation of such a model would then enable the further development of predictive based control methods for flexible robotic surfaces. This paper presents a lumped-mass model for flexible surfaces undergoing large deformation due to actuation by continuum robotic arms. The resulting model includes mechanical and physical properties for both the surface and actuation elements to predict deformation in multiple curvature directions and actuation configurations. The model is validated against an experimental system where measured displacements between the experimental and modelling results showed considerable agreement with a mean error magnitude of about 1% of the length of the surface at the final deformed shapes.

UR - http://www.mendeley.com/research/lumpedmass-model-large-deformation-continuum-surfaces-actuated-continuum-robotic-arms

U2 - 10.1115/1.4045037

DO - 10.1115/1.4045037

M3 - Article

VL - 12

SP - 1

EP - 12

JO - Journal of Mechanisms and Robotics

JF - Journal of Mechanisms and Robotics

SN - 1942-4302

IS - 1

M1 - 011014

ER -