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.


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    Title :

    Dynamic modelling and visco-elastic parameter identification of a fibre-reinforced soft fluidic elastomer manipulator


    Contributors:
    Shariati, A (author) / Shi, J (author) / Spurgeon, S (author) / Wurdemann, H (author)

    Publication date :

    2021-09-27


    Remarks:

    In: Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). IEEE: Prague, Czech Republic. (2021) (In press).


    Type of media :

    Paper


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



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