Pseudo-rigid-body dynamic modeling and analysis of compliant mechanisms

Yu, Yueqing; Li, Qian; Xu, Qiping

doi:10.1177/0954406217707547

Cited by 16 publications

(10 citation statements)

References 16 publications

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“…If the elasticity is distributed on the structure, e.g., in the case of continuum soft robots, then there are two consequences: the dynamic model of the system changes and the definition of the link positions should be revisited. Approximation methods can be considered to overcome these two points, e.g., Della Santina and Rus (2019) or Yu et al (2018). Consequently, to fruitfully apply the elastic coupling concept to a discrete model of continuum soft robots, Definition 1 may necessitate a generalization.…”

Section: Control Designmentioning

confidence: 99%

On the motion/stiffness decoupling property of articulated soft robots with application to model-free torque iterative learning control

Mengacci

Angelini

Catalano

et al. 2020

The International Journal of Robotics Research

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This article tackles the problem of controlling articulated soft robots (ASRs), i.e., robots with either fixed or variable elasticity lumped at the joints. Classic control schemes rely on high-authority feedback actions, which have the drawback of altering the desired robot softness. The problem of accurate control of ASRs, without altering their inherent stiffness, is particularly challenging because of their complex and hard-to-model nonlinear dynamics. Leveraging a learned anticipatory action, iterative learning control (ILC) strategies do not suffer from these issues. Recently, ILC was adopted to perform position control of ASRs. However, the limitation of position-based ILC in controlling variable stiffness robots is that whenever the robot stiffness profile is changed, a different input action has to be learned. Our first contribution is to identify a wide class of ASRs, whose motion and stiffness adjusting dynamics can be proved to be decoupled. This class is described by two properties that we define: strong elastic coupling, relative to motors and links of the system and their connections; and homogeneity, relative to the characteristics of the motors. Furthermore, we design a torque-based ILC scheme that, starting from a rough estimation of the system parameters, refines the torque needed for the joint positions tracking. The resulting control scheme requires minimum knowledge of the system. Experiments on variable stiffness robots prove that the method effectively generalizes the iterative procedure with respect to the desired stiffness profile and allows good tracking performance. Finally, potential restrictions of the method, e.g., caused by friction phenomena, are discussed.

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Section: Control Designmentioning

confidence: 99%

On the motion/stiffness decoupling property of articulated soft robots with application to model-free torque iterative learning control

Mengacci

Angelini

Catalano

et al. 2020

The International Journal of Robotics Research

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“…In recent years, the pseudo-rigid body model (PRBM) method is widely used in the research of flexible body modeling [8,9]. e pseudorigid body method has achieved remarkable achievements in the exact equivalent deformation of large deformation structures with flexible bodies [10]. We use the PRBM idea to carry out the dynamic equivalence in order to consider the complex and large-scale interference factors.…”

Section: Introductionmentioning

confidence: 99%

Research on Vibration Suppression of the Long Flexible Arm Based on Three Tilt Sensors

Haiyong

Jiang

Xing

et al. 2021

Mathematical Problems in Engineering

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In this research, a new method based on the equivalence of modal characteristics, differential flatness (DF), and active disturbance rejection control (ADRC) is proposed for the stabilization control of the long flexible arm (LFA). There are two major problems in the system of the LFA. The first problem is that the LFA is very prone to the multiple-mode coupling, while the control systems need as few sensors as possible. Another problem is that the structure of the LFA in practice is often complex and subject to various disturbances. Therefore, in this paper, the equivalent multirigid body dynamic model of a LFA is derived from the modal information of the equivalent rigid body model of the prototype. Then, the output values of the three tilt sensors are synthesized into an output based on the DF method. Finally, the effectiveness of the proposed method is verified through physical experiments. Compared with PID, the proposed method has shorter settling time. The LFA can be restored within 7 seconds under the ADRC, while it needs 90 seconds or more to calm down without the control.

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“…The dynamic analysis of compliant mechanisms was developed in Yu et al. 19 based on the 1R, 2R and 3R PRBM, respectively. However, the axial deformation of flexural beams was not included.…”

Section: Introductionmentioning

confidence: 99%

“…17 In Wang et al, 18 a dynamic model of compliant parallel-guiding mechanisms was proposed using Euler-Bernoulli equation. The dynamic analysis of compliant mechanisms was developed in Yu et al 19 based on the 1R, 2R and 3R PRBM, respectively. However, the axial deformation of flexural beams was not included.…”

Section: Introductionmentioning

confidence: 99%

Kinematic and dynamic analysis of compliant mechanisms considering both lateral and axial deformations of flexural beams

Zhou

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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The kinematic and dynamic analysis of compliant mechanisms is investigated comprehensively in this work. Based on the pseudo-rigid-body model, a new PR model is proposed to simulate both the lateral and axial deformations of flexural beams in compliant mechanisms. An optimization for the characteristic factors and a linear regression for the stiffness coefficients of PR pseudo-rigid-body model are presented. Compared with the 1R and 2R pseudo-rigid-body model, the advantage of the PR model is well illustrated. The dynamic modeling of flexible beams in compliant mechanisms is then developed based on the PR pseudo-rigid-body model. The dynamic equation of a PR pseudo-rigid-body dynamic model is derived and the dynamic responses are then presented. The kinematic and dynamic analysis of a compliant slider-crank mechanism is presented by the 1R, 2R and PR model, respectively. The effectiveness of pseudo-rigid-body models and the superiorities of the PR pseudo-rigid-body model and PR pseudo-rigid-body dynamic model are shown clearly in the numerical example.

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Pseudo-rigid-body dynamic modeling and analysis of compliant mechanisms

Cited by 16 publications

References 16 publications

On the motion/stiffness decoupling property of articulated soft robots with application to model-free torque iterative learning control

On the motion/stiffness decoupling property of articulated soft robots with application to model-free torque iterative learning control

Research on Vibration Suppression of the Long Flexible Arm Based on Three Tilt Sensors

Kinematic and dynamic analysis of compliant mechanisms considering both lateral and axial deformations of flexural beams

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