期刊
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
卷 5, 期 4, 页码 -出版社
ASME
DOI: 10.1115/1.4025025
关键词
-
The aim of this paper is to present the design of a new long-range robotic arm based on an inflatable structure. Inflatable robotics has potential for improved large payload-to-weight ratios, safe collision, and inspection in areas inaccessible to human beings as in nuclear plants. The robot presented here is intended to operate inspection or maintenance missions in critical installation taking care to not collide with its environment. It is made with innovative inflatable joints and an original actuation system. Prototypes of this inflatable manipulator were constructed using two different manufacturing procedures. Using LS-DYNA nonlinear dynamic finite element modeling we have numerically analyzed the specific geometry and dynamical behavior of the resulting joints. The simulations have given insight into understanding the joint bending process and have revealed guidance for optimizing the conception.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据