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Fig. 6 | ROBOMECH Journal

Fig. 6

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

Fig. 6

Finite element model of FREE in Abaqus. The elastomer tube and cotton fibers were modeled as deformable geometries (left). The assembly of these constituents into a single FREE is shown before and after pressurization (middle). Note that the FREE is fixed at both ends and produces no rotation or elongation under these boundary conditions. The module configuration of four FREEs and their arrangement as seen in a top view of the end-effector is shown on the right

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