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

Shariati, A; Shi, J; Spurgeon, S; Wurdemann, H; (2021) Dynamic modelling and visco-elastic parameter identification of a fibre-reinforced soft fluidic elastomer manipulator. In: Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). IEEE: Prague, Czech Republic. (In press). Green open access

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Abstract

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.

Type: Proceedings paper
Title: Dynamic modelling and visco-elastic parameter identification of a fibre-reinforced soft fluidic elastomer manipulator
Event: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)
Location: Prague, Czech Republic
Dates: 27 September 2021 - 01 October 2021
Open access status: An open access version is available from UCL Discovery
Publisher version: https://www.iros2021.org/
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10132629
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