Modal Dynamic Modelling and Experimental Validation of a Curved Extensible Continuum Manipulator

Hao Wang, Xuping Zhang

Research output: Contribution to conferencePaperResearchpeer-review

Abstract

This study presents a novel dynamic modelling method for analyzing the modal properties of a curved extensible continuum manipulator (ECM). Considering the variable bending angle and the length, the kinematic and static models are firstly established for descripting the geometric posture deformation and deflection generated by gravity. Then, the modal dynamic model is developed along the centerline direction of the ECM in the polar coordinates, by which the modal properties, include modal frequency and mode shape of curved continuum manipulator with different posture parameters are analyzed. The modal response is further analyzed based on the generalized coordinate method. Finally, the modal properties of ECM with variable posture are experimentally tested and compared with the theoretical value using the in-house developed ECM physical prototype. In the experiments, the bending, length varying and circular tracking motion are performed for the comprehensive validation of the proposed dynamics modelling method.

Original languageEnglish
Publication date2021
Number of pages8
DOIs
Publication statusPublished - 2021
Event2021 IEEE International Conference on Robotics and Automation (ICRA) -
Duration: 30 May 20214 Jun 2021
https://www.ieee-icra.org/

Conference

Conference2021 IEEE International Conference on Robotics and Automation (ICRA)
Period30/05/202104/06/2021
Internet address

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    Research output: Contribution to book/anthology/report/proceedingArticle in proceedingsResearchpeer-review

    3 Citations (Scopus)

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