Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots

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

Research output: Chapter in Book/Report/Conference proceedingChapter

90 Downloads (Pure)

Abstract

The deployment of continuum robotic surfaces has strong potential over a wide range of engineering disciplines. To allow such compliant, actively actuated surfaces to be controlled accurately and efficiently, reliable kinematic and dynamic models are required. The main challenge appears when the continuum surfaces become very flexible and undergo large deformations, an issue which is little studied in continuum robotics to date. This paper tackles this problem through the application of a lumped-mass approach for analysis of continuum surfaces that are subject to large deformations due to either gravity or external loading applied by representative flexible actuators. The developed model describes the surface kinematics by providing a means of solving for the displacement profile across the surface. The model takes into account all the essential factors such as gravitational effects, material properties of a flexible plate, inertial forces, material damping, and in-depth shear effects across the surface. An experimental setup has been developed to test an actuated flexible surface under different boundary conditions, with results showing mean percentage error of 4.8% at measured surface points.
Original languageEnglish
Title of host publicationIUTAM Bookseries
Subtitle of host publicationIUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation
Pages133-147
Number of pages15
Volume33
ISBN (Electronic)978-3-030-00527-6
DOIs
Publication statusPublished - 10 Jan 2019

Publication series

NameIUTAM Bookseries
Volume33
ISSN (Print)1875-3507

Fingerprint Dive into the research topics of 'Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots'. Together they form a unique fingerprint.

  • Cite this

    Habibi, H., Kang, R., Walker, I. D., Godage, I. S., & Branson, D. (2019). Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots. In IUTAM Bookseries: IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation (Vol. 33, pp. 133-147). (IUTAM Bookseries; Vol. 33). https://doi.org/10.1007/978-3-030-00527-6_7