کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
801962 1467731 2016 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Study on the load capacity of a single-section continuum manipulator
ترجمه فارسی عنوان
بررسی ظرفیت بار یک تک محوره یک بخش
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
چکیده انگلیسی

This paper presents a simplified method to establish a mathematical model for predicting the loaded posture of a single-section continuum manipulator with arbitrary shape and size of the cross-section. The method constructs a parameter of equivalent bending stiffness for the manipulator and later considers the single-section continuum manipulator to be an equivalent Euler-beam while discussing the symmetry of the cross-section. Thus, the tip position and posture of the manipulator under load are deduced using the large deflection theory and unit load method. The loading model of the single-section continuum manipulator is verified by experiment, and the result indicates that the error between the theoretical model and the experiment is no more than 6%.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 104, October 2016, Pages 313–326
نویسندگان
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