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Reduced Models for the Static Simulation of an Elastic Continuum Mechanism

Deutschmann, Bastian and Eugster, Simon and Ott, Christian (2018) Reduced Models for the Static Simulation of an Elastic Continuum Mechanism. IFAC-PapersOnLine, 51 (2), pp. 403-108. IFAC Secretariat. DOI: 10.1016/j.ifacol.2018.03.069 ISBN 2405-8963 ISSN 2405-8963

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Official URL: https://www.sciencedirect.com/science/article/pii/S2405896318300739


In this paper, two approaches are established and compared that simulate the static deformation of a tendon-driven, elastic continuum mechanism (ECM). The mechanism at hand is made out of silicon and deforms in a large workspace as a results of any externally applied wrench. This yields high dexterity and high mechanical robustness for the system, but also the commonly used kinematic model is not suitable any more. The discussed models in this paper are essentially different. At first, the finite element method (FEM) is used to discretize the mechanism along its centerline. A nonlinear material law is setup and identified for the axial direction and it could be shown that the established model matches the real system very closely. The second model is more abstract. Here, a polynomial relationship is setup between the Cartesian pose of the mechanism and the associated wrench necessary to achieve this deflection. A comparison between the two models show, that the FEM model is slower but more accurate and therefore useful for offline computations whereas the polynomial model seems more suitable for real-time control approaches, with an acceptable accuracy and an efficient computation.

Item URL in elib:https://elib.dlr.de/124191/
Document Type:Article
Title:Reduced Models for the Static Simulation of an Elastic Continuum Mechanism
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Deutschmann, Bastianbastian.deutschmann (at) dlr.dehttps://orcid.org/0000-0002-9139-5719
Eugster, Simonsimon-raphael.eugster (at) inm.uni-stuttgart.dehttps://orcid.org/0000-0002-4562-1287
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:August 2018
Journal or Publication Title:IFAC-PapersOnLine
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1016/j.ifacol.2018.03.069
Page Range:pp. 403-108
Breitenecker, FelixUNSPECIFIED
Kemmetmüller, WolfgangUNSPECIFIED
Körner, AndreasUNSPECIFIED
Publisher:IFAC Secretariat
Series Name:9th Vienna International Conference on Mathematical Modelling
Keywords:Robotics; Model-Reduction
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Robotdynamik & Simulation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Deutschmann, Bastian
Deposited On:11 Dec 2018 12:01
Last Modified:14 Jan 2019 12:39

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