Versatile Like a Seahorse Tail: A Bio?Inspired Programmable Continuum Robot For Conformal Grasping

نویسندگان

چکیده

Compliant grasping is an important function of continuum robots that interact with humans and/or unpredictable environments. However, the existing often have cross-sections remain constant along their length. This causes to exhibit poor ability, especially when dealing objects diverse curvatures. Here, inspired by high adaptability seahorse tails in grasping, a cable-driven robot tapered tensegrity, capable conformally various curvatures proposed. To characterize effects tapering on robotic kinematics, mechanical model derived using multi-body dynamic framework for both predicting configuration and developing control strategy cables. Theoretical predictions indicate curvature each unit can be regulated altering length cables, allowing conform ranging from 1.48 28.21 m?1. Further, employed, used floating as input tested. The design, which presents example embedded physical intelligence, inspire situ characterization techniques collecting contaminants.

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

OpenGRASP: A Toolkit for Robot Grasping Simulation

Simulation is essential for different robotic research fields such as mobile robotics, motion planning and grasp planning. For grasping in particular, there are no software simulation packages, which provide a holistic environment that can deal with the variety of aspects associated with this problem. These aspects include development and testing of new algorithms, modeling of the environments ...

متن کامل

A Robot for Brain–Controlled Grasping

In this paper we present a system that allows patients with motor disabilities to grasp everyday objects. A closed-loop Brain– Machine Interface (BMI) instantiates a connection between the human central nervous system and an industry robot designed to execute the grasping task. Two central problems were addressed in this paper, namely I) the implementation of a BMI to translate a subject’s volu...

متن کامل

A bioinspired dynamical vertical climbing robot

This paper describes the inspiration, design, analysis, implementation of and experimentation with the first dynamical vertical climbing robot. Biologists have proposed a pendulous climbing model that abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. We study numerically a version of that pendulous climbing template dynamically r...

متن کامل

A Hybrid Neural Network Approach for Kinematic Modeling of a Novel 6-UPS Parallel Human-Like Mastication Robot

Introduction we aimed to introduce a 6-universal-prismatic-spherical (UPS) parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. We proposed a strategy to provide a fast and accurate solution to the kinematic problem. The proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required ...

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: Advanced intelligent systems

سال: 2022

ISSN: ['2640-4567']

DOI: https://doi.org/10.1002/aisy.202200263