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Dynamic modeling for a continuum robot with compliant structure

Research output: Contribution to journalConference paper

Standard

Dynamic modeling for a continuum robot with compliant structure. / Guo, Yong; Kang, Rongjie; Chen, Lisha; Dai, Jian.

In: Proceedings of ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering, Vol. 5A, No. 39, DETC2015-46683, 05.08.2015, p. V05AT08A013.

Research output: Contribution to journalConference paper

Harvard

Guo, Y, Kang, R, Chen, L & Dai, J 2015, 'Dynamic modeling for a continuum robot with compliant structure', Proceedings of ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering, vol. 5A, no. 39, DETC2015-46683, pp. V05AT08A013. https://doi.org/10.1115/DETC2015-46683

APA

Guo, Y., Kang, R., Chen, L., & Dai, J. (2015). Dynamic modeling for a continuum robot with compliant structure. Proceedings of ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering, 5A(39), V05AT08A013. [DETC2015-46683]. https://doi.org/10.1115/DETC2015-46683

Vancouver

Guo Y, Kang R, Chen L, Dai J. Dynamic modeling for a continuum robot with compliant structure. Proceedings of ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering. 2015 Aug 5;5A(39):V05AT08A013. DETC2015-46683. https://doi.org/10.1115/DETC2015-46683

Author

Guo, Yong ; Kang, Rongjie ; Chen, Lisha ; Dai, Jian. / Dynamic modeling for a continuum robot with compliant structure. In: Proceedings of ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering. 2015 ; Vol. 5A, No. 39. pp. V05AT08A013.

Bibtex Download

@article{1df5ba823d5e4657a35f847b78279c5f,
title = "Dynamic modeling for a continuum robot with compliant structure",
abstract = "Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.",
author = "Yong Guo and Rongjie Kang and Lisha Chen and Jian Dai",
note = "ISBN: 978-0-7918-5712-0; ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 ; Conference date: 02-08-2015 Through 05-08-2015",
year = "2015",
month = aug,
day = "5",
doi = "10.1115/DETC2015-46683",
language = "English",
volume = "5A",
pages = "V05AT08A013",
journal = "Proceedings of ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering",
publisher = "American Society of Mechanical Engineers (ASME)",
number = "39",

}

RIS (suitable for import to EndNote) Download

TY - JOUR

T1 - Dynamic modeling for a continuum robot with compliant structure

AU - Guo, Yong

AU - Kang, Rongjie

AU - Chen, Lisha

AU - Dai, Jian

N1 - ISBN: 978-0-7918-5712-0

PY - 2015/8/5

Y1 - 2015/8/5

N2 - Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.

AB - Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.

UR - http://www.scopus.com/inward/record.url?scp=84973375285&partnerID=8YFLogxK

U2 - 10.1115/DETC2015-46683

DO - 10.1115/DETC2015-46683

M3 - Conference paper

AN - SCOPUS:84973375285

VL - 5A

SP - V05AT08A013

JO - Proceedings of ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering

JF - Proceedings of ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering

IS - 39

M1 - DETC2015-46683

T2 - ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015

Y2 - 2 August 2015 through 5 August 2015

ER -

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