Compliant Robotic Structures. Part 2
Rept. no. 2, 1 Jun 1985-31 May 1986
DUKE UNIV DURHAM NC DEPT OF CIVIL AND ENVIRONMENTAL ENGINEERING
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This is a continuation of studies on complaint robotic structures, which are tube-like, continuously flexible arms or fingers that are designed to extend, bend or twist when pressurized. Conceptual designs are tempered by a knowledge of muscle structure in selected animals. The results of the second year studies are reported in three chapters. Chapter I presents an overview of muscle structure and function in a variety of soft animal parts. Chapter II focuses on large deformations of complaint torsion elements for robotic wrist action. Chapter III deals with the analysis and conceptual design of complaint robotic arms undergoing large deformations. Keywords computer programs cylindrical shells manipulators.