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Simulation of length-preserving motions of flexible one dimensional oObjects using optimization

Banerjee, S and Menon, MS and Ananthasuresh, GK and Ghosal, A (2011) Simulation of length-preserving motions of flexible one dimensional oObjects using optimization. In: 13th World Congress in Mechanism and Machine Science, Jun 19,2011 - Jun 25,2011, Guanajuato, México.

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Abstract

During the motion of one dimensional flexible objects such as ropes, chains, etc., the assumption of constant length is realistic. Moreover,their motion appears to be naturally minimizing some abstract distance measure, wherein the disturbance at one end gradually dies down along the curve defining the object. This paper presents purely kinematic strategies for deriving length-preserving transformations of flexible objects that minimize appropriate ‘motion’. The strategies involve sequential and overall optimization of the motion derived using variational calculus. Numerical simulations are performed for the motion of a planar curve and results show stable converging behavior for single-step infinitesimal and finite perturbations 1 as well as multi-step perturbations. Additionally, our generalized approach provides different intuitive motions for various problem-specific measures of motion, one of which is shown to converge to the conventional tractrix-based solution. Simulation results for arbitrary shapes and excitations are also included.

Item Type: Conference Paper
Additional Information: Copyright of this article belongs to Universidad de Guanajuato.
Keywords: Flexible Object Simulation; Hyper-Redundant Robotics; Length Preserving Transformation; Optimization; Tractrix
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 04 May 2013 06:16
Last Modified: 04 May 2013 06:16
URI: http://eprints.iisc.ernet.in/id/eprint/46290

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