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Journal of Robotics
Volume 2014, Article ID 308283, 13 pages
Research Article

Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp

Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, Khaje Nasir Toosi University of Technology, Tehran, Iran

Received 25 June 2014; Revised 13 August 2014; Accepted 16 September 2014; Published 20 November 2014

Academic Editor: Farrokh Janabi-Sharifi

Copyright © 2014 Mohammad Dehghani and S. Ali A. Moosavian. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Grasping objects by continuum arms or fingers is a new field of interest in robotics. Continuum manipulators have the advantages of high adaptation and compatibility with respect to the object shape. However, due to their extremely nonlinear behavior and infinite degrees of freedom, continuum arms cannot be easily modeled. In fact, dynamics modeling of continuum robotic manipulators is state-of-the-art. Using the exact modeling approaches, such as theory of Cosserat rod, the resulting models are either too much time-taking for computation or numerically unstable. Thus, such models are not suitable for applications such as real-time control. However, based on realistic assumptions and using some approximations, these systems can be modeled with reasonable computational efforts. In this paper, a planar continuum robotic arm is modeled, considering its backbone as two circular arcs. In order to simulate finger grasping, the continuum arm experiences a point-force along its body. Finally, the results are validated using obtained experimental data.