Elastic Stability of Cosserat Rods and Parallel Continuum Robots

• Published in: IEEE transactions on robotics Vol. 33; no. 3; pp. 718 - 733
• Main Authors: Till, John, Rucker, D. Caleb
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Columns (structural); Computational modeling; Computer simulation; Constraint modelling; Continuum robots; Control stability; Cosserat rods; elastic stability; Elasticity; Numerical models; Numerical stability; Optimal control; parallel robots; Robots; Rods; soft robots; Stability analysis; Stability criteria; Stability tests

Classic theories in nonlinear elasticity have increasingly been used to obtain accurate and efficient models for continuum robots and other elastic structures. Numerically computed solutions of these models typically satisfy the first-order conditions necessary for equilibrium, but do not provide an...