Search results for "Variable stiffness"
showing 7 items of 7 documents
Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots
2020
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid links and compliant joints. By introducing a first-order dynamic equation for the stiffness variable and using the additional control degree of freedom, embedded in the null space of the pneumatic actuator matrix, an innovative control approach is introduced comprising an adaptive compensator and a dynamic decoupler. The proposed solution builds upon existing adaptive control theory and provides a technique for closing the loop on joint stiffness in pneumatic variable stiffness actuators. Under a very mi…
Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots
2020
Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.
Buckling and post-buckling of variable stiffness plates with cutouts by a single-domain Ritz method
2023
Structural components with variable stiffness can provide better performances with respect to classical ones and offer an enlarged design space for their optimization. They are attractive candidates for advanced lightweight structural applications whose functionalities often impose the presence of cutouts that requires accurate and effective analysis for their design. In the present work, a single-domain Ritz formulation is proposed, implemented and validated for the analysis of buckling and post-buckling behaviour of variable stiffness plates with cutouts. The plate model is based on the first-order shear deformation theory with nonlinear von Karman strain–displacement relationships. The p…
Investigation of buckling characteristics of cracked variable stiffness composite plates by an eXtended Ritz approach
2021
Abstract Variable Angle Tow (VAT) composite plates are characterized by in-plane variable stiffness properties, which opens to new concepts of stiffness tailoring and optimization to achieve higher structural performance for advanced lightweight structures where damage tolerance consideration are often mandatory. In this paper, a single-domain eXtended Ritz formulation is proposed to study the buckling behaviour of variable stiffness laminated cracked plates. The plate behaviour is described by the first order shear deformation theory whose generalized displacements, namely reference plane translations and rotations, are expressed via suitable admissible trial functions. These consist of a …
Free vibrations analysis of cracked variable stiffness composite plates by the eXtended Ritz method
2022
Variable stiffness composite laminates show advantageous structural features related to their enlarged design space. They are attractive candidates for advanced engineering applications where the assessment of static and dynamic behavior and strength in the presence of cracks is often required. In the present work, a single-domain extended Ritz formulation is proposed to study the free vibrations of cracked variable stiffness composite plates. The plate model is based on the first-order shear deformation theory whose primary variable, i.e. displacements and rotations, are approximated via a set of orthogonal polynomial trial functions enriched with a set of special crack functions. These fu…
Ritz Solution for Transient Analysis of Variable-Stiffness Shell Structures
2020
The dynamic response of thin-walled structures is driven by mass and stiffness distribution. As such, variable-stiffness (VS) composites offer opportunities to tune structural dynamic responses. To this extent, efficient analysis tools become increasingly important for structural analysis and design purposes. In this work, an efficient and versatile Ritz method for free vibrations and linear transient analysis of VS doubly curved shell structures is presented. VS shell structures are modeled as an assembly of shell-like domains. The shell kinematics is based on the first-order shear deformation theory, and no further assumption is made on the shallowness or on the thinness of the structure.…
Stiffness Estimation and Adaptive Control for Soft Robots
2022
Nonostante la sorprendente crescita nello sviluppo dei robot ispirati alla natura, tra cui i cosiddetti soft robot, il potenziale di questi sistemi, che hanno intrinseche capacità di adattamento, non è ancora stato sfruttato a pieno. La ricerca ha principalmente considerato il controllo in retroazione della posizione dei giunti del robot, lasciando la gestione della cedevolezza di questi ultimi ancora in anello aperto. Peraltro, le attuali limitazioni nel processo di produzione degli attuatori a cedevolezza variabile e l'inevitabile variabilità nel tempo degli elementi elastici costitutivi, i quali sono soggetti ad usura e deformazione plastica, rendono il problema della determinazione prec…