Skip to main content
Fig. 10 | ROBOMECH Journal

Fig. 10

From: Evaluation of two complementary modeling approaches for fiber-reinforced soft actuators

Fig. 10

Orthogonal and three-dimensional views of the reachable end-effector positions for 60 LR-module. The plots show the paths taken by the module’s end-effector as the FREEs are pressurized from 0 to 7 psi based on actuation cases 1, 3, 4, and 5. The variations of each case are shown with activation indicators (top view of the end-effector consistent with Fig. 6) in the X-Y and X-Z planes. The plot in the bottom right illustrates the linearly interpolated estimate of the workspace of the module. All FREEs are modeled with 130 mm length, 9.52 mm inside diameter, and 0.8 mm wall thickness

Back to article page