| Autor: |
Cojocaru, Dorian, Boccolato, Giuseppe, Dinulescu, Ionut, Predescu, Alice, Manta, Florin, Dumitru, Sorin |
| Zdroj: |
Diffusion and Defect Data Part B: Solid State Phenomena; September 2010, Vol. 166 Issue: 1 p127-132, 6p |
| Abstrakt: |
This paper presents the architecture, simulation, implementation and control problem for a class of continuum manipulators – the truncated cone tentacle arm. Desired shape for a tentacle robot is obtained by bending each of the three serial connected sections of a continuous backbone. Such tentacle arm has a fixed length but it can achieve any position and orientation in 3D space. A tentacle arm prototype was designed and the practical realization is now running. For this prototype we present a finite element model, for simulation purposes, we propose a kinematic model to be used in the control structure, and we conducted a series of tests regarding the structure behavior, using both sensor and artificial vision analysis. In this paper we present the results of our work. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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