灵活性(工程)
有限元法
计算机科学
非线性系统
过程(计算)
蜂巢
控制工程
结构工程
模拟
工程类
材料科学
复合材料
量子力学
统计
操作系统
物理
数学
作者
Hao Jiang,Xinghua Liu,Xiaotong Chen,Zhanchi Wang,Yusong Jin,Xiaoping Chen
标识
DOI:10.1109/robio.2016.7866347
摘要
In this paper, we introduce a systematic process of design, simulation and experimental validation of a manipulator based on the honeycomb pneumatic network (HPN) structure. The HPN structure shows potential in achieving balance between flexibility and load bearing capacity, which overcomes the shortcoming of pneumatic networks in strength. To reach the best performance of both features above, we establish explicit evaluation criteria and conduct specific simulation experiments employing nonlinear finite element method (FEM). Finally, the manipulator prototype is validated to have decent load bearing capacities as well as flexibility in experimental tests.
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