Control-oriented modeling of a polymeric soft robot

Moghadam, Amiri A A, Torabi, Keivan, Kaynak, Akif, Zainal Alam, Muhd Nazrul Hisham, Kouzani, Abbas and Mosadegh, Bobak 2016, Control-oriented modeling of a polymeric soft robot, Soft robotics, vol. 3, no. 2, pp. 82-97, doi: 10.1089/soro.2016.0002.

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Title Control-oriented modeling of a polymeric soft robot
Author(s) Moghadam, Amiri A A
Torabi, Keivan
Kaynak, AkifORCID iD for Kaynak, Akif
Zainal Alam, Muhd Nazrul Hisham
Kouzani, AbbasORCID iD for Kouzani, Abbas
Mosadegh, Bobak
Journal name Soft robotics
Volume number 3
Issue number 2
Start page 82
End page 97
Total pages 16
Publisher Mary Ann Liebert Inc.
Place of publication New Rochelle, N.Y.
Publication date 2016-06-01
ISSN 2169-5172
Summary This article describes an efficient control-oriented model of a soft robot made of electroactive polymers. The proposed soft robot is constructed from two flexible links and has a multiphysics dynamic model consisting of both an electrochemical and electromechanical model. The electrochemical model is based on a distributed RC line approach, and the electromechanical model, considering the continuum vibration of the robot, is derived based on Hamilton's principle. The governing equation of the soft robot is solved by means of the Rayleigh-Ritz-Meirovitch substructure synthesis method, and the Laplace operator is used to obtain the transfer function of the soft robot as a 2 by 2 multiple-input multiple-output system.
Language eng
DOI 10.1089/soro.2016.0002
Field of Research 091306 Microelectromechanical Systems (MEMS)
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2016, Mary Ann Liebert Inc.
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Created: Mon, 28 Nov 2016, 09:49:52 EST

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