Imperial College London

Dr Thrishantha Nanayakkara

Faculty of EngineeringDyson School of Design Engineering

Reader in Design Engineering and Robotics
 
 
 
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Contact

 

+44 (0)20 7594 0965t.nanayakkara Website CV

 
 
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Location

 

RCS1 M229Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Sadati:2017:10.1007/978-3-319-64107-2_56,
author = {Sadati, SM and Naghibi, SE and Shiva, A and Walker, ID and Althoefer, K and Nanayakkara, T},
doi = {10.1007/978-3-319-64107-2_56},
pages = {686--702},
title = {Mechanics of continuum manipulators, a comparative study of five methods with experiments},
url = {http://dx.doi.org/10.1007/978-3-319-64107-2_56},
year = {2017}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - © Springer International Publishing AG 2017. Investigations on control and optimization of continuum manipulators have resulted in a number of kinematic and dynamic modeling approaches each having their own advantages and limitations in various applications. In this paper, a comparative study of five main methods in the literature for kinematic, static and dynamic modeling of continuum manipulators is presented in a unified mathematical framework. The five widely used methods of Lumped system dynamic model, Constant curvature, two-step modified constant curvature, variable curvature Cosserat rod and beam theory approach, and series solution identification are re-viewed here with derivation details in order to clarify their methodological differences. A comparison between computer simulations and experimental results using a STIFF-FLOP continuum manipulator is presented to study the advantages of each modeling method.
AU - Sadati,SM
AU - Naghibi,SE
AU - Shiva,A
AU - Walker,ID
AU - Althoefer,K
AU - Nanayakkara,T
DO - 10.1007/978-3-319-64107-2_56
EP - 702
PY - 2017///
SN - 0302-9743
SP - 686
TI - Mechanics of continuum manipulators, a comparative study of five methods with experiments
UR - http://dx.doi.org/10.1007/978-3-319-64107-2_56
UR - http://hdl.handle.net/10044/1/53519
ER -