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http://dx.doi.org/10.18419/opus-14538
Autor(en): | Remy, C. David Brei, Zachary Bruder, Daniel Remy, Jan Buffinton, Keith Gillespie, R. Brent |
Titel: | The “Fluid Jacobian” : modeling force-motion relationships in fluid-driven soft robots |
Erscheinungsdatum: | 2024 |
Dokumentart: | Zeitschriftenartikel |
Seiten: | 628-645 |
Erschienen in: | The international journal of robotics research 43 (2024), S. 628-645 |
URI: | http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-ds-145575 http://elib.uni-stuttgart.de/handle/11682/14557 http://dx.doi.org/10.18419/opus-14538 |
ISSN: | 0278-3649 1741-3176 |
Zusammenfassung: | In this paper, we introduce the concept of the Fluid Jacobian, which provides a description of the power transmission that operates between the fluid and mechanical domains in soft robotic systems. It can be understood as a generalization of the traditional kinematic Jacobian that relates the joint space torques and velocities to the task space forces and velocities of a robot. In a similar way, the Fluid Jacobian relates fluid pressure to task space forces and fluid flow to task space velocities. In addition, the Fluid Jacobian can also be regarded as a generalization of the piston cross-sectional area in a fluid-driven cylinder that extends to complex geometries and multiple dimensions. In the following, we present a theoretical derivation of this framework, focus on important special cases, and illustrate the meaning and practical applicability of the Fluid Jacobian in four brief examples. |
Enthalten in den Sammlungen: | 07 Fakultät Konstruktions-, Produktions- und Fahrzeugtechnik |
Dateien zu dieser Ressource:
Datei | Beschreibung | Größe | Format | |
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10.1177_02783649231210592.pdf | 1,83 MB | Adobe PDF | Öffnen/Anzeigen |
Diese Ressource wurde unter folgender Copyright-Bestimmung veröffentlicht: Lizenz von Creative Commons