Static Modeling of Linear Object Deformation Based on Differential Geometry

نویسندگان

  • Hidefumi Wakamatsu
  • Shinichi Hirai
چکیده

We describe the modeling of linear object deformation based on differential geometry and its applications to manipulative operations. A particle-based approach, the finite element method, and the Cosserat theory have been applied to the modeling of linear object deformation. In this paper, we establish an alternative modeling approach based on an extension of differential geometry. First, we extend differential geometry to describe linear object deformation including flexure, torsion, and extension. Secondly, we show computational results to demonstrate the feasibility of the proposed modeling technique, and we compare computational and experimental results to demonstrate the accuracy of the model. Next, we apply the proposed approach to the grasping of a deformable linear object. We propose a disturbance force margin to indicate the stability of the grasping and we describe the computation of the margin using the proposed approach. Finally, we apply the proposed approach to the deformation path planning of a linear object. We formulate the minimization of potential energy during a deformation path. We compute the optimal deformation path and a feasible deformation path, which are compared with an experimental result. KEY WORDS—deformation, modeling, linear objects, statics, differential geometry

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

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Non-linear Static Modeling of Moderately Thick Functionally Graded Plate Using Dynamic Relaxation Method

In this paper, nonlinear static analysis of moderately thick plate made of functionally graded materials subjected to mechanical transverse loading is carried out using dynamic relaxation method. Mindlin first order shear deformation theory is employed to consider thick plate. Discretized equations are extracted for geometrically nonlinear behavior analysis.Loading Conditions and boundary condi...

متن کامل

A Non-linear Static Equivalent Model for Multi-layer Annular/Circular Graphene Sheet Based on Non-local Elasticity Theory Considering Third Order Shear Deformation Theory in Thermal Environment

In this paper, it is tried to find an approximate single layer equivalent for multi-layer graphene sheets based on third order non-local elasticity theory. The plates are embedded in two parameter Winkler-Pasternak elastic foundation, and also the thermal effects are considered. A uniform transverse load is imposed on the plates. Applying the non-local theory of Eringen based on third order she...

متن کامل

PREDICTION OF STATIC SOFTENING OF MICROALLOYED STEEL BY THE INTEGRATION OF FINITE ELEMENT MODEL WITH PHYSICALLY BASED STATE VARIABLE MODEL

  Abstract   Recovery and recrystallization phenomena and effects of microalloying elements on these phenomena are of great importance in designing thermomechanical processes of microalloyed steels. Thus, understanding and modeling of microstructure evolution during hot deformation leads to optimize the processing conditions and to improve the product properties.   In this study, finite element...

متن کامل

Numerical solution of base shear in high tensioned cable antenna

A finite element solution based on equevalent elements is proposed for the static and dynamic analysis of tallhigh tensioned cable antennas. To reduce high number of degrees of freedom in space frame body of a structure, a simple equivalent beam element is defined for each simulative substructure. This numerical procedure is applicable to analyze complex three dimensional assemblies of substruc...

متن کامل

Design and Modeling of a New Type of Tactile Sensor Based on the Deformation of an Elastic Membrane

This paper presents the design and modeling of a flexible tactile sensor, capable of detecting the 2D surface texture image, contact-force estimation and stiffness of the sensed object. The sensor is made of polymer materials. It consists of a cylindrical chamber for pneumatic actuation and a membrane with a mesa structure. The inner radius of the cylindrical chamber is 2cm and its outer radius...

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

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

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:
  • I. J. Robotics Res.

دوره 23  شماره 

صفحات  -

تاریخ انتشار 2004