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All Journal Control Systems and Optimization Letters
Zare, Mohammad Reza
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Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering

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Effects of Static and Dynamical Disturbance Forces on the Performance of a Wire Driven Flexible Robot Tahmasebi, Mona; Gohari, Mohammad; Zolfagharian, Ali; Zare, Mohammad Reza; Pak, Abbas
Control Systems and Optimization Letters Vol 3, No 2 (2025)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v3i2.34

Abstract

Robot requests are increased by recent development of IoT, telemetry and human requirements in uninteresting or precision jobs such as surgery, industrial inspections or crops harvesting. Numerous robots are industrialized by researchers for various tasks. Flexible robots are developed based on declared requests since they can adapt their geometry to the working circumstances. Existing study presents a wire driven flexible robot enthused of animal organs such as octopus tentacles or elephant`s trunk. It can move in planar and space based on assembly of that. Primarily, a kinematic model founded to estimate end effector location, formerly a dynamic model established to compute essential tension of tendon based on bending beam theory. Moreover, effects of static and dynamical load applied on the WDFR are studied as external disturbances. A test rig is fabricated to assess attained models. The results demonstrate close convergence between tests outcomes and outputs of models. Accordingly, dynamic and kinematic models can be operated in design of controller in coming works.
Co-Authors Gohari, Mohammad Pak, Abbas Tahmasebi, Mona Zolfagharian, Ali