Dynamic modelling and visco-elastic parameter identification of a fibre-reinforced soft fluidic elastomer manipulator
Azadeh Shariati,Jialei Shi,Sarah Spurgeon,Helge A Wurdemann,Azadeh Shariati,Jialei Shi,Sarah Spurgeon,Helge A Wurdemann
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 time-dependent behaviour of soft fluidic elastomer robots, analytic dynamic modelling is challenging. The fibre reinforced noninflatable soft fluidic elastomer robot used in...
