Modeling of soft manipulators enabled by twisted-and-coiled actuators
| dc.contributor.author | Pawlowski, Ben, author | |
| dc.contributor.author | Zhao, Jianguo, author | |
| dc.date.accessioned | 2017-11-13T14:13:27Z | |
| dc.date.available | 2017-11-13T14:13:27Z | |
| dc.date.issued | 2017 | |
| dc.description.abstract | This work presents an approach for modelling and computing the forward and inverse kinematics of a soft manipulator driven by twisted-and-coiled actuators (TCAs). TCAs present an opportunity for continuum robots to have soft actuators that are completely embedded, electronically driven, and cheap to manufacture that allow for the generation of large forces and the possibility of self-sensing. Previously devised models for soft robots are incapable of incorporating TCAs as actuators due to the body and actuator deformations being highly coupled together. The model developed is capable of modelling soft manipulators that use other sorts of artificial muscles or tendons. | en_US |
| dc.format.medium | born digital | |
| dc.format.medium | Student works | |
| dc.format.medium | posters | |
| dc.identifier.uri | https://hdl.handle.net/10217/184830 | |
| dc.language | English | en_US |
| dc.language.iso | eng | en_US |
| dc.publisher | Colorado State University. Libraries | en_US |
| dc.relation.ispartof | 2017 Projects | |
| dc.rights | Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright. | |
| dc.subject | soft | |
| dc.subject | robots | |
| dc.subject | statics | |
| dc.subject | dynamics | |
| dc.subject | control | |
| dc.title | Modeling of soft manipulators enabled by twisted-and-coiled actuators | en_US |
| dc.title.alternative | 231 - Ben Patrick Pawlowski | en_US |
| dc.title.alternative | Kinematics of soft manipulators enabled by twisted-and-coiled actuators | en_US |
| dc.type | Text | |
| dc.type | Image | |
| dcterms.rights.dpla | This Item is protected by copyright and/or related rights (https://rightsstatements.org/vocab/InC/1.0/). You are free to use this Item in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you need to obtain permission from the rights-holder(s). |
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