Dynamic analysis of casting and winding with hyper-flexible manipulator

Takahiro Suzuki, Yuji Ebihara, Ken Shintani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

In this paper, casting and winding dynamics of hyper-flexible manipulator is analyzed. Casting and winding with hyper-flexible elements like strings, ropes or wires should be a useful operation to capture a distant target object. A multi-link system connected by passive non-elastic joints is employed as a discrete dynamic model of hyper-flexible systems. Casting and winding dynamics is analyzed with the multi-link model. Casting and winding motion can be divided in several phases as casting, contacting, winding and capturing. This paper focuses on the casting motion suitable for winding onto a round target object. Simulations are executed to clarify a suitable casting motion to realize a good and firm winding. Several criteria as contact position, contact velocity, slack length and looseness on the target are employed to evaluate the winding results.

Original languageEnglish
Title of host publication2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
Pages64-69
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Externally publishedYes
Event12th International Conference on Advanced Robotics, 2005. ICAR '05 - Seattle, WA, United States
Duration: 2005 Jul 182005 Jul 20

Publication series

Name2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
Volume2005

Other

Other12th International Conference on Advanced Robotics, 2005. ICAR '05
CountryUnited States
CitySeattle, WA
Period05/7/1805/7/20

ASJC Scopus subject areas

  • Engineering(all)

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