Force-Dependent Bilinear Variable Stiffness Design of Continuum Structure.

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

The Effect of p-delta 21-Storey Structure in the Variable Arrangement of Lateral Stiffness

 In recent years, high-rise construction has been rising. A big challenge for engineers and executives in the construction of these structures is the stability of the structures against earthquakes. And this requires the development of appropriate arrangements for structures under lateral system and are braced system. And this requires the development of appropriate arrangements for structures ...

متن کامل

Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning

Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to-weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design pr...

متن کامل

Design of Variable Damping and Stiffness Matrices

amping and stiffness control in a telerobotic system allows the programmer to define the master and slave dynamics to suit a given task. Unfortunately, many requirements for good teleoperation produce conflicting choices of desired dynamic parameters for different tasks. It is proposed here that the master and slave damping and stiffness matrices be functionally dependent on b e n d and command...

متن کامل

Interaction Force Control of Robots with Variable Stiffness Actuation

In this paper, the control of the force due to the interaction with the environment of a robotic manipulator with relevant and adjustable joint stiffness is addressed. It is assumed that the interaction force is not directly measurable and a controller able to estimate this force is proposed. Also the problem of controlling simultaneously both the position and the stiffness trajectory in the ro...

متن کامل

Force Tracking Impedance Control with Variable Target Stiffness

In this paper, a novel force tracking impedance control strategy is presented in which target stiffness is varied on-line to regulate the desired contact force without any knowledge of the environment. Humans can control contact force by adjusting their arm stiffness. The contact force can be either increased by making one’s arm stiffer or decreased by reducing the arm stiffness. Furthermore, h...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A

سال: 2002

ISSN: 0387-5008,1884-8338

DOI: 10.1299/kikaia.68.1407