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dc.contributor.author
 hal.structure.identifier
VOISEMBERT, Sébastien
127758 Laboratoire Conception de Produits et Innovation [LCPI]
dc.contributor.authorRIWAN, Alain
dc.contributor.author
 hal.structure.identifier
AOUSSAT, Améziane
127758 Laboratoire Conception de Produits et Innovation [LCPI]
dc.contributor.author
 hal.structure.identifier
MECHBAL, Nazih
86289 Laboratoire Procédés et Ingénierie en Mécanique et Matériaux [PIMM]
dc.date.accessioned2014
dc.date.available2015
dc.date.issued2013
dc.date.submitted2014
dc.identifier.issn1942-4302
dc.identifier.urihttp://hdl.handle.net/10985/8524
dc.description.abstractThe aim of this paper is to present the design of a new long-range robotic arm based on an inflatable structure. Inflatable robotics has potential for improved large payload-to-weight ratios, safe collision, and inspection in areas inaccessible to human beings as in nuclear plants. The robot presented here is intended to operate inspection or maintenance missions in critical installation taking care to not collide with its environment. It is made with innovative inflatable joints and an original actuation system. Prototypes of this inflatable manipulator were constructed using two different manufacturing procedures. Using LS-DYNA nonlinear dynamic finite element modeling we have numerically analyzed the specific geometry and dynamical behavior of the resulting joints. The simulations have given insight into understanding the joint bending process and have revealed guidance for optimizing the conception.
dc.language.isoen
dc.publisherAmerican Society of Mechanical Engineers
dc.rightsPost-print
dc.subjectActuation systems
dc.subjectBending process
dc.subjectDynamic finite element model
dc.subjectDynamical behaviors
dc.subjectHuman being
dc.subjectLS-DYNA
dc.subjectManufacturing procedure
dc.subjectNuclear plant
dc.titleDesign of a novel long-range inflatable robotic arm: Manufacturing and numerical evaluation of the joints and actuation
ensam.embargo.terms1 Year
dc.identifier.doi10.1115/1.4025025
dc.typdocArticle dans une revue avec comité de lecture
dc.localisationCentre de Paris
dc.subject.halSciences de l'ingénieur: Matériaux
dc.subject.halSciences de l'ingénieur: Mécanique
dc.subject.halSciences de l'ingénieur: Mécanique: Mécanique des structures
ensam.audienceInternationale
ensam.page9
ensam.journalJournal of Mechanisms and Robotics
ensam.volume5
ensam.issue4
hal.identifierhal-01064303
hal.version1
hal.submission.permittedupdateMetadata
hal.statusaccept
dc.identifier.eissn1942-4310


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