デュアルトライアングル弾性セグメントからなる柔軟直列マニピュレータの力学
Mechanics of compliant serial manipulator composed of dual-triangle segments
デュアルトライアングル型の弾性セグメントで構成された柔軟直列マニピュレータについて、安定・不安定平衡配置と形状を解析・数値的に求め、負荷時と無負荷時の剛性行列を仮想関節法で計算した。初期形状が直線か非直線かで座屈・準座屈が生じることを示し、シミュレーションで理論を検証した。
著者: Damien Chablat, Wanda Zhao, Anatol Pashkevich, Alexandr Klimchik
分類: cs.RO
原文アブストラクト
The paper focuses on the mechanics of a compliant serial manipulator composed of new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the manipulator stable and unstable equilibrium configurations, as well as to predict corresponding manipulator shapes. The stiffness analysis was carried on for both loaded and unloaded modes, the stiffness matrices were computed using the Virtual Joint Method (VJM). The results demonstrate that either buckling or quasi-buckling phenomenon may occur under the loading, if the manipulator corresponding initial configuration is straight or non-straight one. Relevant simulation results are presented that confirm the theoretical study.
