MODELING THE COMPLIANCE OF A VARIABLE STIFFNESS C-SHAPED LEG USING CASTIGLIANO'S THEOREM


ÜNLÜ AYDIN Y. , Galloway K. C. , YAZICIOĞLU Y. , Koditschek D. E.

ASME Internationl Design Engineering Technical Conferences / Computers and Information in Engineering Conference, Montreal, Kanada, 15 - 18 Ağustos 2010, ss.705-713 identifier identifier

  • Basıldığı Şehir: Montreal
  • Basıldığı Ülke: Kanada
  • Sayfa Sayıları: ss.705-713

Özet

This paper discusses the application of Castigliano's Theorem to a half circular beam intended for use as a shaped, tunable, passively compliant robot leg. We present closed-form equations characterizing the deflection behavior of the beam (whose compliance properties vary along the leg) under appropriate loads. We compare the accuracy of this analytical representation to that of a Pseudo Rigid Body (PRB) approximation in predicting the data obtained by measuring the deflection of a physical half-circular beam under the application of known static loads. We briefly discuss the further application of the new model for solving the dynamic equations of a hexapod robot with a C-shaped leg.