Amiri Moghadam, Amir Ali and Torabi, Keivan and Kaynak, Akif and Zainal Alam, Muhd. Nazrul Hisham and Kouzani, Abbas and Mosadegh, Bobak (2016) Control-oriented modeling of a polymeric soft robot. Soft Robotics, 3 (2). pp. 82-97. ISSN 2169-5172
Full text not available from this repository.
Official URL: http://dx.doi.org/10.1089/soro.2016.0002
Abstract
his 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.
| Item Type: | Article |
|---|---|
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
| Divisions: | Science |
| ID Code: | 69092 |
| Deposited By: | Siti Nor Hashidah Zakaria |
| Deposited On: | 01 Nov 2017 04:28 |
| Last Modified: | 20 Nov 2017 08:52 |
Repository Staff Only: item control page
