Three module lumped element model of a continuum arm section

In this paper, a section of a continuum arm is modeled using lumped model elements (masses, springs and dampers). The model, although an approximation for a continuum structure, can be used to conveniently analyze the dynamics of the arm with selectable tradeoff in accuracy of modeling. Principles of lagrangian dynamics are used to derive the expressions for the generalized forces in the system. Simulation results using the model are compared with the physical measurements of a continuum arm prototype built using McKibben actuators. A brief discussion on how this relatively simple model can be more realizable when compared to other techniques of modeling continuum arms is also presented in the paper.