Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and comp...Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's rigidity.In this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is established.Then,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load characteristics.Four different in-plane configurations under the external load term as S1,S2,C1,and C2 are defined.Taking a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and S2.Furthermore,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external load.The established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.展开更多
In the case of composite girders, an effective cooperation of both parts of the section is influenced by deformability of connectors. Limited flexural stiffness of welded studs, used commonly in bridge structures, doe...In the case of composite girders, an effective cooperation of both parts of the section is influenced by deformability of connectors. Limited flexural stiffness of welded studs, used commonly in bridge structures, does not provide full interaction of a steel beam and a concrete slab. This changes strain distribution in cross-sections of a composite girder and results in redistribution of internal forces in steel and concrete element. In the paper partial interaction index defined on the basis of a neutral axis position, which can be used for verification of steel-concrete interaction in real bridge structures rather than in specimens is proposed. The range of the index value changes, obtained during load testing of a typical steel-concrete composite beam bridge, is presented. The investigation was carried out on a motorway viaduct, consisting of two parallel structures. During the testing values of strains in girders under static and quasi-static loads were measured. The readings from the gauges were used to determine the index, characterizing composite action of the girders. Results of bridge testing under movable load, changing position along the bridge span is presented and obtained in-situ influence functions of strains and index values are commented in the paper.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51875033)Fundamental Research Funds for the Central Universities of China(Grant No.2021YJS137).
文摘Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's rigidity.In this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is established.Then,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load characteristics.Four different in-plane configurations under the external load term as S1,S2,C1,and C2 are defined.Taking a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and S2.Furthermore,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external load.The established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.
文摘In the case of composite girders, an effective cooperation of both parts of the section is influenced by deformability of connectors. Limited flexural stiffness of welded studs, used commonly in bridge structures, does not provide full interaction of a steel beam and a concrete slab. This changes strain distribution in cross-sections of a composite girder and results in redistribution of internal forces in steel and concrete element. In the paper partial interaction index defined on the basis of a neutral axis position, which can be used for verification of steel-concrete interaction in real bridge structures rather than in specimens is proposed. The range of the index value changes, obtained during load testing of a typical steel-concrete composite beam bridge, is presented. The investigation was carried out on a motorway viaduct, consisting of two parallel structures. During the testing values of strains in girders under static and quasi-static loads were measured. The readings from the gauges were used to determine the index, characterizing composite action of the girders. Results of bridge testing under movable load, changing position along the bridge span is presented and obtained in-situ influence functions of strains and index values are commented in the paper.
