Dynamic analysis of casting and winding with hyper-flexible manipulator

Takahiro Suzuki, Yuji Ebihara, Ken Shintani

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
ページ64-69
ページ数6
DOI
出版ステータスPublished - 2005 12 1
外部発表はい
イベント12th International Conference on Advanced Robotics, 2005. ICAR '05 - Seattle, WA, United States
継続期間: 2005 7 182005 7 20

出版物シリーズ

名前2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
2005

Other

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

ASJC Scopus subject areas

  • 工学(全般)

フィンガープリント

「Dynamic analysis of casting and winding with hyper-flexible manipulator」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル