Compliant Robotic Structures

Abstract

A complaint robotic structure is one or more continuously flexible arms that can be controlled to manipulate objects. A typical arm is comprised of orthotropic tube elements placed end-to-end where each element is designed to move in a particular way (bend, twist or extend) when pressurized. The results of the first year studies are reported in three chapters. Chapter I focuses on the mechanics and structure of an elephant trunk. Chapter II involves the analysis of computer controlled compliant element systems that bend and coil similar to elephant trunks. Chapter III focuses on the analysis of compliant orthotropic tube elements that can be used as torsion actuators when pressurized. Originator-supplied keywords: Bellows, Cylindrical shells, Manipulators, Nonlinear materials.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1985
Accession Number
ADA161897

Entities

People

  • James F. Wilson

Organizations

  • Duke University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Biomedical

DTIC Thesaurus Topics

  • Animals
  • Artificial Intelligence
  • Composite Materials
  • Computers
  • Elastic Properties
  • Elephants
  • Geometry
  • Internal Pressure
  • Mathematical Models
  • Mechanical Properties
  • Mechanics
  • Medical Personnel
  • Modulus Of Elasticity
  • Payload
  • Stiffness
  • Stress Strain Relations
  • Stresses

Readers

  • Electrical Engineering
  • Robotics and Automation.
  • Structural Dynamics.

Technology Areas

  • AI & ML
  • Autonomy