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 proceedingChapterResearch

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, Springer, Cham
Subtitle of host publicationZahariev E., Cuadrado J. (eds) IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation
Pages133-147
Volume33
ISBN (Electronic)978-3-030-00527-6
DOIs
Publication statusPublished - 10 Jan 2019

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Robots
Kinematics
Robotics
Gravitational effects
Dynamic models
Materials properties
Gravitation
Actuators
Damping
Boundary conditions

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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, Springer, Cham: Zahariev E., Cuadrado J. (eds) IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation (Vol. 33, pp. 133-147) https://doi.org/10.1007/978-3-030-00527-6_7
Habibi, Hossein ; Kang, Rongjie ; Walker, Ian D. ; Godage, Isuru S, ; Branson, David. / Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots. IUTAM Bookseries, Springer, Cham: Zahariev E., Cuadrado J. (eds) IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation. Vol. 33 2019. pp. 133-147
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Habibi, H, Kang, R, Walker, ID, Godage, IS & Branson, D 2019, Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots. in IUTAM Bookseries, Springer, Cham: Zahariev E., Cuadrado J. (eds) IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation. vol. 33, pp. 133-147. https://doi.org/10.1007/978-3-030-00527-6_7

Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots. / Habibi, Hossein; Kang, Rongjie; Walker, Ian D.; Godage, Isuru S,; Branson, David.

IUTAM Bookseries, Springer, Cham: Zahariev E., Cuadrado J. (eds) IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation. Vol. 33 2019. p. 133-147.

Research output: Chapter in Book/Report/Conference proceedingChapterResearch

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AB - 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.

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Habibi H, Kang R, Walker ID, Godage IS, Branson D. Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots. In IUTAM Bookseries, Springer, Cham: Zahariev E., Cuadrado J. (eds) IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation. Vol. 33. 2019. p. 133-147 https://doi.org/10.1007/978-3-030-00527-6_7