THREE DIMENSIONAL MODELING OF BIONIC MANIPULATOR FOR INTELLIGENT TRANSPORTATION SYSTEM

Abstract

Robot manipulators have traditionally always been simplistic arrangements of small number of serially actuated joints and connected links. These manipulators have proven to be very effective for many tasks, but they have inherently many limitations, mainly due to their lack of total degrees of freedom. However, Continuum style robots are capable of exhibiting wide ranges of manipulation , and can have a significantly large number of D.O.F. The manipulation of continuum robots is usually generated through the robot bending over a certain given section; unlike traditionally configured robots in which the motion normally occurs at discrete manipulator joints. The motion of manipulators that are continuum in nature are compared to biological manipulators such as trunks and tentacles. These continuum biologically inspired robots can achieve manoeuvrability which may only be obtained by conventionally designed robots with significantly more (close to infinity) degrees of freedom for which number of actuators will also be large and practically modelling becomes almost an impossible task. This dissertation gives a brief idea about Intelligent transportation systems, Bionic Robots, Continuum arm, Lagrange's energy based modelling , Robotino®XT which is a bionic robot made by Fsto Didactic, and a comprehensive study regarding the dynamic modeling of bionic manipulator . The report also gives an idea about the literature survey i.e the work which has already been done and discusses a new approach for developing practically realizable dynamic models for bionic continuum robots. Lumped model elements (e.g. masses, springs and dampers) may be used to model different sections of a continuum arm. An approximation of a continuum structure is given by the model but it can be used to analyse the inherent dynamics of the constitutive sections with convenient trade off in numerical precision. Lagrangian dynamics principles are employed to derive the mathematical expressions for the generalized forces existing in the system. The force exerted by actuators at different pressure levels— length pair is analysed and is incorporated in dynamic model. The constraints introduced in the analytical model do conform to the physical and operational limitations of the Bionic manipulator being under study. The model is validated by comparing the results of numerical simulation with the physical experiments conducted at Polytcch'Lille, Lille, France