This paper discusses the application of Castigliano’s Theorem to a half circular beam intended for use as a shaped, tunable, passively compliant robot leg. We present closed-form equations characterizing the deflection behavior of the beam (whose compliance properties vary along the leg) under appropriate loads. We compare the accuracy of this analytical representation to that of a Pseudo Rigid Body (PRB) approximation in predicting the data obtained by measuring the deflection of a physical half-circular beam under the application of known static loads. We briefly discuss the further application of the new model for solving the dynamic equations of a hexapod robot with a C-shaped leg.
- Design Engineering Division and Computers in Engineering Division
Modeling the Compliance of a Variable Stiffness C-Shaped Leg Using Castigliano’s Theorem
Aydın, YO, Galloway, KC, Yazicioglu, Y, & Koditschek, DE. "Modeling the Compliance of a Variable Stiffness C-Shaped Leg Using Castigliano’s Theorem." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 705-713. ASME. https://doi.org/10.1115/DETC2010-29190
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