Dynamic Underactuated Manipulator Using a Flexible Body with a Structural Anisotropy
Akihiro Maruo,Akihide Shibata,Mitsuru Higashimori,Akihiro Maruo,Akihide Shibata,Mitsuru Higashimori
This paper presents a novel manipulation method utilizing dynamic deformation of a flexible body with a structural anisotropy. Employing a spiral flexible body, a dynamic underactuated manipulation using its various vibrational patterns is proposed. First, the orbit of the tip of flexible body for the vibrational input to its root is theoretically derived. Subsequently, for flexible bodies with an...
