Show/Hide Menu
Hide/Show Apps
anonymousUser
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Frequently Asked Questions
Frequently Asked Questions
Browse
Browse
By Issue Date
By Issue Date
Authors
Authors
Titles
Titles
Subjects
Subjects
Communities & Collections
Communities & Collections
MODELING THE COMPLIANCE OF A VARIABLE STIFFNESS C-SHAPED LEG USING CASTIGLIANO'S THEOREM
Date
2010-08-18
Author
Ünlü Aydın, Yücel
Galloway, Kevin C.
Yazıcıoğlu, Yiğit
Koditschek, Daniel E.
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
28
views
0
downloads
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.
Subject Keywords
Modeling
,
Stiffness
,
Theorems (Mathematics)
,
Deflection
,
Robots
,
Stress
,
Approximation
,
Equations of motion
URI
https://hdl.handle.net/11511/53750
Collections
Department of Turkish Language, Conference / Seminar