We can easily compute the rigid robot kinematics and dynamics. There is many resources, simulators and modelling tools about it. But i couldnt find any of these for elastic robots. Can you suggest resources and modelling tools?
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$\begingroup$ I'm sure a librarian at your local university could help you find some great resources, but there is no problem here for us to solve - you're just asking for shopping recommendations. $\endgroup$– Chuck ♦Jul 25, 2015 at 12:17
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$\begingroup$ "Elastic Robots" is a fairly broad term. Perhaps I can suggest that you search for published papers involving the modelling and control of "flexible link" and "flexible joint" mechanisms and have a look at the problem the authors are trying to solve, it may provide a more concrete starting point? Let us know whether or not this is a closer refinement of your question. $\endgroup$– MichaelAJul 27, 2015 at 2:40
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3 Answers
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You can use Finite Element Anlysis (FEA) tools like Abaqus. Also please look this paper.
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You should use multi body simulation https://en.m.wikipedia.org/wiki/Multibody_system. There is also modelling software for this. Finite elements are more for structural verification.
For modelling, you could use python's pydy module: https://www.pydy.org/. There are also other open source software tools: http://www.cs.rpi.edu/~trink/sim_packages.html.
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I think the vast majority of compliant or "elastic" robots you will find have rigid links, but compliant joints. I believe robots with flexible links is still a topic of active research. So your best bet is to look through academic papers. It is not a simple solution. I found some old papers to get you started:
- Control Of Flexible Robot Arm by J.D. Lee, L. S. Hayna, Ben Li Wang, and KwangHornp Tsai.
- Havlik, S., "Structural compliance of flexible robot arms: analysis, synthesis and control aspects," Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on , vol., no., pp.1622,1625 vol.2, 19-22 June 1991
