A dynamic model of a soft fibre-reinforced fluidic elastomer is presented and experimentally verified, which can be used for model-based controller design. Due to the inherent visco-(hyper)elastic characteristics and nonlinear timedependent behaviour of soft fluidic elastomer robots, analytic dynamic modelling is challenging. The fibre reinforced noninflatable soft fluidic elastomer robot used in this paper can produce both planar and spatial movements. Dynamic equations are developed for both cases. Parameters, related to the viscoelastic behaviour of the robot during elongation and bending motion, are identified experimentally and incorporated into our model. The modified dynamic model is then validated in experiments comparing the time responses of the physical robot with the corresponding outputs of the simulation model. The results validate the accuracy of the proposed dynamic model.
Dynamic modelling and visco-elastic parameter identification of a fibre-reinforced soft fluidic elastomer manipulator
2021-09-27
In: Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). IEEE: Prague, Czech Republic. (2021) (In press).
Paper
Electronic Resource
English
DDC: | 629 |
Compound visco elastic measurements and neural network software modelling
Automotive engineering | 2003
|Screw theory-based stiffness analysis for a fluidic-driven soft robotic manipulator
BASE | 2021
|FLUIDIC ELASTOMER ACTUATOR-BASED MECHANICAL CONTROL SYSTEMS
European Patent Office | 2021
|Automotive, moulded visco-elastic foams
Tema Archive | 2002
|Visco‐elastic traffic flow model
Online Contents | 2013
|