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Please use this identifier to cite or link to this item: http://repository.iitr.ac.in/handle/123456789/26518
Title: Dynamic modelling of multi section bionic manipulator: Application to Robotino-XT
Authors: Behl S.
Escande C.
Pathak, Pushparaj Mani
Merzouki R.
Mishra B.K.
Published in: 6th Int. Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2012, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2012
6th International Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2012, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2012
Abstract: This paper deals with the Bond Graph dynamic modeling of a multi section bionic manipulator applied to Bionic Handling Assistant robot (BHA). This bioinspire flexible manipulator is comprised of two bending sections, one rotating section and one compliant gripper. Each bending section is comprised of three bellows, which are actuated pneumatically. To simulate the bellows behavior, differential equation for a pipe conveying fluid has been obtained and finite element representation of the mathematical model is carried out. This finite element approach has been linked to the bond graph modeling approach. Similarly remaining of the bellows have been modeled and are linked to each other by putting suitable boundary conditions to obtain the dynamic model of the manipulator as a whole. Thus, this model can be used to design an adequate control for the whole BHA robot. This model will be validated through simulation and experimental tests.
Citation: 6th Int. Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2012, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2012 (2012): 247-252
URI: http://repository.iitr.ac.in/handle/123456789/26518
Issue Date: 2012
Publisher: Caltek s.r.l.
Keywords: Bionic Manipulator modeling
FE Bond Graph Model
Pneumatic actuator bond graph
Author Scopus IDs: 56084403200
55211029600
8386080200
15840190400
55578538300
Author Affiliations: Behl, S., Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India
Escande, C., LAGIS FRE CNRS, 3303, Polytech'Lille, avenue Langevin, 59655, Villeneuve d'Ascq, France
Pathak, P.M., Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India
Merzouki, R., LAGIS FRE CNRS, 3303, Polytech'Lille, avenue Langevin, 59655, Villeneuve d'Ascq, France
Mishra, B.K., Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India
Funding Details: 
Corresponding Author: Pathak, P.M.; Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India; email: pushpfme@iitr.ernet.in
Appears in Collections:Conference Publications [ME]

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