PARAMETER TUNING OF ADDICTIVE MANUFACTURING CONTINUUM FLEXIBLE MANIPULATOR SIMULATION

PARAMETER TUNING OF ADDICTIVE MANUFACTURING CONTINUUM FLEXIBLE MANIPULATOR SIMULATION

Novaes, Luis V.; Matos, Victor S.; Mendes, João V.; Silva, Lucas C.

Full article:

This work presents the process to simulate accurately a continuum flexible manipulator produced through addictive manufacturing (AM). A manipulator is an element capable of interaction with the space around it, a common example is a rigid robotic arm. The Finite Element Method (FEM) software adopted was the SOFA framework. The tuning process consists of adjusting the simulation parameters to achieve sufficient accuracy in the manipulator movement in space. A real manipulator was used, based on known input value application, the space position was measured, and compared with the simulated version. The simulated version achieved more than 240 % of improvement as compared to the nominal material parameters. The 3D positioning for steady-state study case reached 10 % of distance error, and a parameters surface was mapped to better understand the tunning process.

This work presents the process to simulate accurately a continuum flexible manipulator produced through addictive manufacturing (AM). A manipulator is an element capable of interaction with the space around it, a common example is a rigid robotic arm. The Finite Element Method (FEM) software adopted was the SOFA framework. The tuning process consists of adjusting the simulation parameters to achieve sufficient accuracy in the manipulator movement in space. A real manipulator was used, based on known input value application, the space position was measured, and compared with the simulated version. The simulated version achieved more than 240 % of improvement as compared to the nominal material parameters. The 3D positioning for steady-state study case reached 10 % of distance error, and a parameters surface was mapped to better understand the tunning process.

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DOI: 10.5151/siintec2023-305940

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Como citar:

Novaes, Luis V. ; Matos, Victor S. ; Mendes, João V. ; Silva, Lucas C. ; "PARAMETER TUNING OF ADDICTIVE MANUFACTURING CONTINUUM FLEXIBLE MANIPULATOR SIMULATION ", p-251-259. In: . São Paulo: Blucher, 2023.
ISSN 23577592, DOI 10.5151/siintec2023-305940