Curvature-controlled trajectory planning for variable stiffness composite laminates

Niu, Xuejuan; Yaxin, Liu; Wu, Jinchao; Yang, Tao

doi:10.1016/j.compstruct.2020.111986

Cited by 15 publications

(3 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The trajectory of the end-effector moving from A to B should then be discussed. We assume that the original position and orientation A of the end-effector E are θA = [0, 0, 0, 0, 0] T and that the final position and orientation B of the end-effector are θB = [10,15,20,25,30] T . The trajectory planning based on a fifth-order polynomial can be expressed as…”

Section: Kinematic Analysismentioning

confidence: 99%

“…In addition, to improve the grasping flexibility of the robotic grasper, variable-stiffness joints should be considered into the design. Although the grasping flexibility of the robotic grasper can be adjusted by various control methods [24][24] [25] [27] [28], these control methods have certain requirements for the system [29] [30]. By contrast, it is easier to change the flexibility of the robotic grasper with a variable-stiffness joint.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and Analysis of a Novel Truss-Shaped Variable-Stiffness Deployable Robotic Grasper

et al. 2020

View full text Add to dashboard Cite

This paper presents a novel truss-shaped variable-stiffness deployable robotic grasper to grasp large unknown objects, the grasper comprises a series of basic modules and has the advantages of a large workspace, adjustable stiffness, and a high deploy/fold ratio. First, detailed mechanism designs of the grasper and variable-stiffness joint are introduced, and a mobility analysis and variable stiffness analysis are conducted. Second, the structural analysis of the basic module is carried out, by which several major indices, including deploy/fold ratio, grasping angle, deployment angle, grasping torque, and deployment torque, can be calculated. Third, kinematic analysis is presented to provide the workspace and kinematic simulation, and then the joint trajectory planning based on fifth-order polynomial is also conducted. Fourth, the condition of stable grasp is analyzed and a mathematical model of grasping motion is established. Adam optimization algorithm is then applied to optimization of the mathematical model and a grasping simulation is performed with objects of various sizes and for various working states of the variable-stiffness joint. Finally, a simple physical prototype is fabricated, and variable-stiffness experiments and grasping experiments confirm that the proposed grasper shows excellent grasping performance.

show abstract

Section: Kinematic Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Truss-Shaped Variable-Stiffness Deployable Robotic Grasper

et al. 2020

View full text Add to dashboard Cite

show abstract

“…Kim utilized the B ézier curve to define the AFP trajectories and showed that this method can avoid the problem of caps and overlaps [27]. For more examples, see [28][29][30][31][32][33].…”

Section: Introductionmentioning

confidence: 99%

Design of Variable Stiffness Trajectories with Cubic Ferguson Curve

Zhang,

Wang,

Wang

2023

Materials

View full text Add to dashboard Cite

To design a class of full cover trajectories that satisfy curvature limitations and enhance the buckling load of constructed laminates, a variable stiffness laminate is proposed by applying the cubic Ferguson curve. First, the traditional explicit form of the cubic Ferguson curve is redefined as polar coordinates, two connected Ferguson curve segments with three extra parameters are applied to describe full cover trajectories, and the effects on trajectories introduced by these modifications are discussed. Then, the finite element method is used to introduce parameters for analyzing the buckling load of the designed variable stiffness laminates. Numerical experiments show that automatic fiber placement (AFP) trajectories described by the cubic Ferguson curve can automatically reach C1 continuity and can be locally modified by adjusting the introduced parameters. Compared with traditional constant stiffness laminates, the variable stiffness laminates designed using the proposed method exhibit a higher buckling load and better stability.

show abstract

Algorithms for Constructing Initial and Offset Path of Automated Fiber Placement for Complex Double-Curved Surfaces

Wang

et al. 2021

Appl Compos Mater

View full text Add to dashboard Cite

Curvature-controlled trajectory planning for variable stiffness composite laminates

Cited by 15 publications

References 15 publications

Design and Analysis of a Novel Truss-Shaped Variable-Stiffness Deployable Robotic Grasper

Design and Analysis of a Novel Truss-Shaped Variable-Stiffness Deployable Robotic Grasper

Design of Variable Stiffness Trajectories with Cubic Ferguson Curve

Algorithms for Constructing Initial and Offset Path of Automated Fiber Placement for Complex Double-Curved Surfaces

Contact Info

Product

Resources

About