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contributor authorTrejoRamos, ChristianAlejandro;OlguínDíaz, Ernesto;ParraVega, Vicente
date accessioned2023-04-06T13:04:17Z
date available2023-04-06T13:04:17Z
date copyright10/17/2022 12:00:00 AM
date issued2022
identifier issn220434
identifier otherds_144_12_121004.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4289021
description abstractCurrent Lagrangian models for soft cylindrical robots (SCRs) have been developed under rigid body considerations, and therefore, body deformation properties have not been fully incorporated into these models. Thus, key deformation properties such as density variation, variable CoM, and timevarying inertia tensor are missing. In addition, the highly nonlinear dynamical couplings arising from deformation are also missing in deformable bodybased formulations. In this paper, Lagrangian and quasiLagrangian models of a noninertial soft robot are developed under the essential modeling assumption that distance among particles varies. Such nonrigid body assumption introduces deformation properties that lead to a clear description of freemotion deformation dynamics subject to reaction forces. Altogether, our proposal gives rise to sound qualitative mathematical models that incorporate deformation phenomena, with wellposed structural properties. To exemplify quantitatively the usefulness of the proposed models, two simulation scenarios are presented and discussed. In the first one, the soft robot is fixed to the ground, while the second scenario, a soft robot is attached to a threedimensional freeflying rigid frame.
publisherThe American Society of Mechanical Engineers (ASME)
titleLagrangian and QuasiLagrangian Models for Noninertial Pneumatic Soft Cylindrical Robots
typeJournal Paper
journal volume144
journal issue12
journal titleJournal of Dynamic Systems, Measurement, and Control
identifier doi10.1115/1.4055692
journal fristpage121004
journal lastpage12100411
page11
treeJournal of Dynamic Systems, Measurement, and Control:;2022:;volume( 144 ):;issue: 012
contenttypeFulltext


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