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Modélisation Dynamique de la Locomotion Compliante by Collectif

Modélisation Dynamique de la Locomotion Compliante

by Collectif
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Book cover type: Paperback
  • ISBN13: 9783841629210
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Omniscriptum
  • Publisher Imprint: Omniscriptum
  • Publication Date:
  • Pages: 172
  • Original Price: GBP 66.0
  • Language: French
  • Edition: N/A
  • Item Weight: 259 grams
  • BISAC Subject(s): Mechanics / General

Ce travail est consacré à la modélisation de la dynamique de locomotion des soft robots dont les compliances peuvent ètre localisées et considérées comme des liaisons passives du système, ou bien introduites par des flexibilités distribuées le long des corps. La dynamique de ces systèmes multi-corps mobiles compliants est modélisée par une approche Lagrangienne basée sur les outils de la mécanique géométrique. Le calcul algorithmique de ces modèles s'appuie sur un algorithme récursif et efficace de type Newton-Euler, ici étendu aux robots locomoteurs munis d'organes compliants. L'ensemble de ces outils est appliqué au vol battant des insectes. Les équations des déformations passives (flexion et torsion) de l'aile sont obtenues par deux méthodes différentes. La première, dite de "repère flottant," considère l'aile comme une poutre d'Euler-Bernoulli. Dans la seconde approche, dite "géométriquement exacte," l'aile est vue comme une poutre Cosserat. Les forces aérodynamiques sont prises en compte via un modèle analytique simplifié. Les modèles et algorithmes résultants sont appliqués à la mise au point d'un simulateur de vol, ainsi qu'à la conception d'un prototype d'aile bio-inspirée.

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