Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9722
Title: Dynamic modelling for planar extensible continuum robot manipulators
Authors: Tatlıcıoğlu, Enver
Walker, I. D.
Dawson, D. M.
Tatlıcıoğlu, Enver
Keywords: Dynamic modelling
biologically inspired robot manipulators
continuum manipulators
lagrangian
Issue Date: 2009
Publisher: ACTA Press
Abstract: In this paper, a new dynamic model for continuum robot manipulators is derived. The dynamic model is developed based on the geometric model of extensible continuum robot manipulators with no torsional effects. The development presented in this paper extends the previously available models to include a class of extensible continuum robot manipulators. First, the kinetic energy of a slice of the continuum robot is evaluated. Next, the total kinetic energy of the manipulator is obtained by utilizing a limit operation (i.e., sum of the kinetic energy of all the slices). Then, the gravitational potential energy of the manipulator is derived. Next, the elastic potential energy of the manipulator is derived for both bending and extension. Finally, the dynamic model of a planar 3-section extensible continuum robot manipulator is derived by utilizing the Lagrange representation. Numerical simulation results are presented for a planar 3-section extensible continuum robot manipulator.
URI: https://hdl.handle.net/11147/9722
ISSN: 0826-8185
1925-7090
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

Show full item record

CORE Recommender

Page view(s)

20
checked on Oct 22, 2021

Google ScholarTM

Check


Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.