Date of download: 10/30/2017 Copyright © ASME. All rights reserved. From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects J. Mechanisms Robotics. 2016;8(6):061001-061001-7. doi:10.1115/1.4032862 Figure Legend: Joints fabricated using SDM at DISL at OSU
Date of download: 10/30/2017 Copyright © ASME. All rights reserved. From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects J. Mechanisms Robotics. 2016;8(6):061001-061001-7. doi:10.1115/1.4032862 Figure Legend: Cantilever beam with end loads
Date of download: 10/30/2017 Copyright © ASME. All rights reserved. From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects J. Mechanisms Robotics. 2016;8(6):061001-061001-7. doi:10.1115/1.4032862 Figure Legend: The three-spring PRB model after deformation
Date of download: 10/30/2017 Copyright © ASME. All rights reserved. From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects J. Mechanisms Robotics. 2016;8(6):061001-061001-7. doi:10.1115/1.4032862 Figure Legend: Optimal PRB parameters as functions of length-to-height ratio
Date of download: 10/30/2017 Copyright © ASME. All rights reserved. From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects J. Mechanisms Robotics. 2016;8(6):061001-061001-7. doi:10.1115/1.4032862 Figure Legend: Variation of error in PRB model with load (for the joint with L/h = 2)
Date of download: 10/30/2017 Copyright © ASME. All rights reserved. From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects J. Mechanisms Robotics. 2016;8(6):061001-061001-7. doi:10.1115/1.4032862 Figure Legend: Sensitivity of individual PRB parameters near the optimal point for RPR model
Date of download: 10/30/2017 Copyright © ASME. All rights reserved. From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects J. Mechanisms Robotics. 2016;8(6):061001-061001-7. doi:10.1115/1.4032862 Figure Legend: Schematic diagram of finger of compliant gripper in deformed position
Date of download: 10/30/2017 Copyright © ASME. All rights reserved. From: A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects J. Mechanisms Robotics. 2016;8(6):061001-061001-7. doi:10.1115/1.4032862 Figure Legend: Comparison of X and Y coordinates of tip of compliant finger as a function of the actuation force A(N), calculated using FEA and PRB models