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CLC number: O35

On-line Access: 2010-03-29

Received: 2010-01-19

Revision Accepted: 2010-01-19

Crosschecked: 2010-01-27

Cited: 8

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Journal of Zhejiang University SCIENCE A 2010 Vol.11 No.4 P.255-262

10.1631/jzus.A000030


Driving force and structural strength evaluation of a flexible mechanical system with a hydrostatic skeleton


Author(s):  Daisuke Maruyama, Hitoshi Kimura, Michihiko Koseki, Norio Inou

Affiliation(s):  Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo 152-8550, Japan

Corresponding email(s):   inou@mech.titech.ac.jp

Key Words:  Flexible mechanical system, Hydrostatic skeleton, Design method, Nonlinear finite element analysis (FEA)


Daisuke Maruyama, Hitoshi Kimura, Michihiko Koseki, Norio Inou. Driving force and structural strength evaluation of a flexible mechanical system with a hydrostatic skeleton[J]. Journal of Zhejiang University Science A, 2010, 11(4): 255-262.

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author="Daisuke Maruyama, Hitoshi Kimura, Michihiko Koseki, Norio Inou",
journal="Journal of Zhejiang University Science A",
volume="11",
number="4",
pages="255-262",
year="2010",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A000030"
}

%0 Journal Article
%T Driving force and structural strength evaluation of a flexible mechanical system with a hydrostatic skeleton
%A Daisuke Maruyama
%A Hitoshi Kimura
%A Michihiko Koseki
%A Norio Inou
%J Journal of Zhejiang University SCIENCE A
%V 11
%N 4
%P 255-262
%@ 1673-565X
%D 2010
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A000030

TY - JOUR
T1 - Driving force and structural strength evaluation of a flexible mechanical system with a hydrostatic skeleton
A1 - Daisuke Maruyama
A1 - Hitoshi Kimura
A1 - Michihiko Koseki
A1 - Norio Inou
J0 - Journal of Zhejiang University Science A
VL - 11
IS - 4
SP - 255
EP - 262
%@ 1673-565X
Y1 - 2010
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A000030


Abstract: 
The purpose of this study was to build a flexible mechanical system with a hydrostatic skeleton. The main components of this system are two type flexible bags. One is a structural bag with constant inner pressure. The other is an actuator bag with controlled inner pressure. To design the system, it was necessary to estimate both structural deformation and driving force. Numerical analysis of flexible bags, however, is difficult because of large nonlinear deformation. This study analyzed structural strength and driving force of flexible bags with the nonlinear finite element analysis (FEA) software ABAQUS. The stress concentration dependency on the bag shape is described and the driving force is calculated to include the large deformation. From the analytical results, this study derives an empirical equation of driving force. The validity of the equation was confirmed by condition-changed analyses and experimental results.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

[1]Hayakawa, Y., Pandian, S.R., 2005. Development of a Hybrid Element by using Sponge Core Soft Rubber Actuator. IEEE International Conference on Robotics and Automation, p.538-543.

[2]Kimura, H., Kajimura, F., Maruyama, D., Koseki, M., Inou, N., 2006. Flexible Hermetically-sealed Mobile Robot for Narrow Spaces Using Hydrostatic Skeleton Driving Mechanism. IEEE/RSJ International Conference on Intelligent Robot and Systems, p.4006-4011.

[3]Kozulin, A.A., Skripnyak, V.A., 2004. Strength Calculation of Polymer Pipeline Elements. The 8th Russian-Korean International Symposium on Science and Technology KORUS, p.29-32.

[4]Ogden, R.W., 1972. Large deformation isotropic elasticity— on the correlation of theory and experiment for incompressible rubberlike solids. The Royal Society of London, Series A, Mathematical and Physical Sciences, 326:565-584.

[5]Ogden, R.W., 1997. Non-linear Elastic Deformations. Dover Publications, New York.

[6]Pamplona, D.C., Goncalves, P.B., Lopes, S.R.X., 2006. Finite deformations of cylindrical membrane under internal pressure. Journal of Mechanical Sciences, 48:683-696.

[7]Suzumori, K., Abe, T., 1993. Applying a Flexible Microactuators to Pipeline Inspection Robots. International Symposium on Robotics and Manufacturing System IMACS/SICE, p.515-520.

[8]Suzumori, K., Maeda, T., Watanabe, H., Hisada, T., 1997. Fiberless flexible microactuator designed by finite-element method. IEEE/ASME Transactions on Mechatronics, 2(4):281-286.

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