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Potentiometer Variable Control Code
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Parameters & Physical Modeling
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Animation profile development explained simply in the previous Kinematic Analysis portion.
Highlighted Coding Sections -
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Instead of
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finding the
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torsional gradient for what would be necessary for a soft finger with links, we simplify the flexure into a discrete Pseudo-Rigid-Body. Thus, we treat each finger section as a beam, and we use the Euler-Bernoulli beam theory, learned from our solids class. By calculating the
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second moment of
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area and distinct lengths, we can
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return a
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torsional stiffness per link.
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Finding Static Equilibrium
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Bisection Method
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We needed to identify torsional stiffness and then anticipate the max displacement our fingers could move as to identify boundary conditions or “limits.” This max displacement was derived from