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http://dx.doi.org/10.18419/opus-14538
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DC Element | Wert | Sprache |
---|---|---|
dc.contributor.author | Remy, C. David | - |
dc.contributor.author | Brei, Zachary | - |
dc.contributor.author | Bruder, Daniel | - |
dc.contributor.author | Remy, Jan | - |
dc.contributor.author | Buffinton, Keith | - |
dc.contributor.author | Gillespie, R. Brent | - |
dc.date.accessioned | 2024-06-17T13:31:05Z | - |
dc.date.available | 2024-06-17T13:31:05Z | - |
dc.date.issued | 2024 | de |
dc.identifier.issn | 0278-3649 | - |
dc.identifier.issn | 1741-3176 | - |
dc.identifier.other | 1892141353 | - |
dc.identifier.uri | http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-ds-145575 | de |
dc.identifier.uri | http://elib.uni-stuttgart.de/handle/11682/14557 | - |
dc.identifier.uri | http://dx.doi.org/10.18419/opus-14538 | - |
dc.description.abstract | 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. | en |
dc.description.sponsorship | Carl-Zeiss-Stiftung | de |
dc.description.sponsorship | Deutsche Forschungsgemeinschaft | de |
dc.description.sponsorship | Stuttgart Center for Simulation Science (SimTech) | de |
dc.language.iso | en | de |
dc.relation.uri | doi:10.1177/02783649231210592 | de |
dc.rights | info:eu-repo/semantics/openAccess | de |
dc.rights.uri | https://creativecommons.org/licenses/by-nc/4.0/ | de |
dc.subject.ddc | 620 | de |
dc.title | The “Fluid Jacobian” : modeling force-motion relationships in fluid-driven soft robots | en |
dc.type | article | de |
dc.date.updated | 2024-04-25T13:23:02Z | - |
ubs.fakultaet | Konstruktions-, Produktions- und Fahrzeugtechnik | de |
ubs.fakultaet | Fakultätsübergreifend / Sonstige Einrichtung | de |
ubs.institut | Institut für Nichtlineare Mechanik | de |
ubs.institut | Fakultätsübergreifend / Sonstige Einrichtung | de |
ubs.publikation.seiten | 628-645 | de |
ubs.publikation.source | The international journal of robotics research 43 (2024), S. 628-645 | de |
ubs.publikation.typ | Zeitschriftenartikel | de |
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