The longest soft robotic arm

Sipos, András Árpád; Várkonyi, Péter L.

doi:10.1016/j.ijnonlinmec.2019.103354

Cited by 11 publications

(5 citation statements)

References 21 publications

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“…This deflection, called columnar buckling, is a crucial consideration in structural design because the column becomes unstable under compressive stress considerably lesser than the failure strength of the constituent materials [1]. In addition to the field of structural design, columnar buckling is relevant in a wide range of fields in which slender column structures are involved; plant science, nanomaterial engineering [2], and robotics [3] are only a few to mention. In plant science, for example, columnar buckling has been presumed to impose an upper limit on the growth height of upright stems and trunks [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Simple Approximate Formulas for Postbuckling Deflection of Heavy Elastic Columns

Shima

2020

Applied Sciences

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Columnar buckling is a ubiquitous phenomenon that occurs in both living things and man-made objects, regardless of the length scale ranging from macroscopic to nanometric structures. In general, analyzing the post-buckling behavior of a column requires the application of complex mathematical methods because it involves nonlinear problem solving. To complement these complex methods, this study presents simple analytical formulas for the large deflection of a heavy elastic column under combined loads. The analytical formulas relate the concentrated load acting on the tip of the column, the column’s own weight, and the deflection angle of the column through a simple mathematical expression. This can assist in obtaining an overall picture of the post-buckling behavior of heavy columns from an application point of view.

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Section: Introductionmentioning

confidence: 99%

Simple Approximate Formulas for Postbuckling Deflection of Heavy Elastic Columns

Shima

2020

Applied Sciences

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“…The effect of pipe string transportation and target position were not significant, and compensation from the mechanical hand is unnecessary. 3 The stability problem caused by the vibration of the flexible arm can be greatly reduced with a reasonable shock absorber design and material selection, and an appropriate control method can also quickly attenuate the vibration. 4.…”

Section: Discussionmentioning

confidence: 99%

“…The characteristics of this kind of equipment are a large work scope and harsh environment. Because the length of the large arm is related to the derrick, the elastic deformation, vibration, and parameters of the arm in the "flexible macro-rigid micro" system [1,2] during the rotation operation will affect the movement accuracy, response speed, controllability, etc., which is the core issue of pipe string moving devices [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

A Study of the Vibration Characteristics of Flexible Mechanical Arms for Pipe String Transportation in Oilfields

Wang

Gao

et al. 2022

Energies

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During the drilling and repairing of wells, the pipe string transfer equipment has a high work frequency. The movement accuracy, response speed, and controllability of the equipment have significant impacts on the stability. In this paper, we propose an analysis method of mechanical arms to lift pipe strings using a rigid–flexible coupling model. With the mechanical arm as a flexible body and the mechanical hand as a rigid body, a numerical calculation model of the rigid-flexible coupling of the system was established based on the Lagrangian equation. ADAMS and Ansys software were applied to numerical simulations of this system to investigate the lifting characteristics, the influence of the operation parameters and structure parameters, and the contact collision analysis of the mechanical arm. The conditions of rigid–flexible modeling for the multi-body system and the main factors affecting the vibration characteristics of the flexible arm are described. We conclude that the arm should be modeled as a rigid body if the structure parameter [w/l] (elastic deformation/length) is between 1/650 and 1/1000, the system can be modeled as a rigid–flexible coupling if [w/l] is between 1/400 and 1/650, and the arm should be modeled as a flexible body and the influence and compensation of the control method should be considered if [w/l] is between 1/250 and 1/400.

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“…The presented results introduce a new paradigm in nonlinear structural dynamics and may find applications for positioning tasks in soft robotics [1,18,19], as well as for wave mitigation devices [10,13,15,20] and environmental energy harvesters [7,14,22], where self-tuning property can be exploited to improve efficiency and to extend the frequency range of application.…”

Section: Introductionmentioning

confidence: 98%

Stabilization against gravity and self-tuning of an elastic variable-length rod through an oscillating sliding sleeve

Koutsogiannakis,

Misseroni,

Bigoni

et al. 2023

Journal of the Mechanics and Physics of Solids

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The longest soft robotic arm

Cited by 11 publications

References 21 publications

Simple Approximate Formulas for Postbuckling Deflection of Heavy Elastic Columns

Simple Approximate Formulas for Postbuckling Deflection of Heavy Elastic Columns

A Study of the Vibration Characteristics of Flexible Mechanical Arms for Pipe String Transportation in Oilfields

Stabilization against gravity and self-tuning of an elastic variable-length rod through an oscillating sliding sleeve

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