文献类型：期刊文献

英文题名：Study on the load capacity of a single-section continuum manipulator

作者：Gao, Guohua[1];Wang, Hao[1];Xia, Qixiao[2];Song, Mingyang[1];Ren, Han[1]

第一作者：Gao, Guohua

通讯作者：Xia, QX[1]

机构：[1]Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing 100124, Peoples R China;[2]Beijing Union Univ, Coll Mech & Elect Engn, Beijing 100020, Peoples R China

第一机构：Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing 100124, Peoples R China

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Mech & Elect Engn, Beijing 100020, Peoples R China.|[1141739]北京联合大学机器人学院;[11417]北京联合大学;

年份：2016

卷号：104

起止页码：313-326

外文期刊名：MECHANISM AND MACHINE THEORY

收录：;EI(收录号：20162602545029);Scopus(收录号：2-s2.0-84975840346);WOS:【SCI-EXPANDED(收录号:WOS:000380752200020)】；

基金：This work is supported by the National Natural Science Foundation of China (51275005); Science and Technology Rising Star Plan of Beijing Municipality (Z121104002512018). In addition, the manipulator developed in this paper is the prototype under the project "Automatic Picking Manipulator Research", which is supported by the Chinese Academy of Agricultural Mechanization Sciences (CAAMS).

语种：英文

外文关键词：Continuum manipulator; Kinematic modeling; Loading capacity

摘要：This paper presents a simplified method to establish a mathematical model for predicting the loaded posture of a single-section continuum manipulator with arbitrary shape and size of the cross-section. The method constructs a parameter of equivalent bending stiffness for the manipulator and later considers the single-section continuum manipulator to be an equivalent Euler-beam while discussing the symmetry of the cross-section. Thus, the tip position and posture of the manipulator under load are deduced using the large deflection theory and unit load method. The loading model of the single-section continuum manipulator is verified by experiment, and the result indicates that the error between the theoretical model and the experiment is no more than 6%. (C) 2016 Elsevier Ltd. All rights reserved.