3. Geometric-static model of a flexible body
In this section, we focus on the Cosserat model, which is used to predict the deformations of one of the RPC's legs. We begin with a general description of the model, then discuss the numerical tools required to solve it. Finally, we look at discretization techniques that simplify the study of the model's properties, in particular the stability of its solutions.
3.1 Cosserat model of the flexible beam – Continuous case
3.1.1 Geometry of a flexible body
Cosserat's model of flexible rods (figure...
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Geometric-static model of a flexible body
Geometric-static model of a continuous parallel robot
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Bibliography
- (1) - BRUYAS (A.), GEISKOPF (F.), RENAUD (P.) - Toward unibody robotic structures with integrated functions using multimaterial additive manufacturing: Case study of an MRI-compatible interventional device. - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) p. 1744–1750, September 2015.
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