TJ535 : Modeling and Analysis of a Robotic Arm with Twisted Viscoelastic Cable Actuation
Thesis > Central Library of Shahrood University > Mechanical Engineering > MSc > 2018
Authors:
Abstarct: In this dissertation, modeling and a dynamic analysis of twisted string actuator system has been conducted. For this matter, the string has been considered as a continuum object, and then its dynamic motion equations have been yielded. In this case, it is presumed that the wire rope material is viscoelastic. In this modeling, the aforementioned equations type is PDE (partial differential equation) which have been solved via FDM (finite difference method). Moreover, in order to develop accurate dynamic behavior of twisted string, the system has been simulated by Abaqus software. In this study, in addition to steady-state results of the twisted string, the results of transient state have been provided as well. Also, a way of proper motor selection for the wire rope has been introduced.
Keywords:
#Actuator system #Actuator system of twisted string #Viscoelastic #Dynamic modeling #Finite Difference Method #Robotic arm Link
Keeping place: Central Library of Shahrood University
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Keeping place: Central Library of Shahrood University
Visitor: