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Modeling the Compliance of a Variable Stiffness C-Shaped Leg Using Castigliano’s Theorem

[+] Author Affiliations
Yasemin Ö. Aydın, Yigit Yazicioglu

Middle East Technical University, Ankara, Turkey

Kevin C. Galloway, Daniel E. Koditschek

University of Pennsylvania, Philadelphia, PA

Paper No. DETC2010-29190, pp. 705-713; 9 pages
doi:10.1115/DETC2010-29190
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

This paper discusses the application of Castigliano’s Theorem to a half circular beam intended for use as a shaped, tunable, passively compliant robot leg. We present closed-form equations characterizing the deflection behavior of the beam (whose compliance properties vary along the leg) under appropriate loads. We compare the accuracy of this analytical representation to that of a Pseudo Rigid Body (PRB) approximation in predicting the data obtained by measuring the deflection of a physical half-circular beam under the application of known static loads. We briefly discuss the further application of the new model for solving the dynamic equations of a hexapod robot with a C-shaped leg.

Copyright © 2010 by ASME

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