| نویسندگان | امیرعلی امیری مقدم-کیو1ن ترابی-آکیف کایناک-موجد زین العالم-عباس خوزانی-بابک مصدق |
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| تاریخ انتشار | ۲۰۱۶-۶-۰۱ |
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| نوع نشریه | الکترونیکی |
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| نمایه نشریه | ISI ,SCOPUS |
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چکیده مقاله
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 RayleighRitz-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.