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research-article

Shape control for the Elastica through load optimization

[+] Author and Article Information
Arvind Nayak

Research Assistant, Dept. of Mechanical Engineering, Indian Institute of Science
arvindnayak994@gmail.com

Poornakanta Handral

Research Assistant, Dept. of Mechanical Engineering, Indian Institute of Science
poornakantahandral@gmail.com

Ramsharan Rangarajan

Assistant Professor, Dept. of Mechanical Engineering, Indian Institute of Science
rram@iisc.ac.in

1Corresponding author.

ASME doi:10.1115/1.4041678 History: Received September 05, 2018; Revised October 04, 2018

Abstract

Flexible elastic beams can function as dextrous manipulators at multiple length-scales and in various niche applications. As a step towards achieving controlled manipulation with flexible structures, we introduce the problem of approximating desired quasistatic deformations of a flexible beam, modeled as an elastica, by optimizing the loads applied. We presume the loads to be concentrated, with the number and nature of their application prescribed based on design considerations and operational constraints. For each desired deformation, we pose the problem of computing the requisite set of loads to mimic the target shape as one of optimal approximation. In the process, we introduce a novel generalization of the forward problem by considering the inclinations of the loads applied to be functionals of the solution. This turns out to be especially beneficial when analyzing tendon-driven manipulators. We demonstrate the shape control realizable through load optimization using a diverse set of experiments.

Copyright (c) 2018 by ASME
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