| contributor author | Felt, Wyatt | |
| contributor author | David Remy, C. | |
| date accessioned | 2019-02-28T11:04:12Z | |
| date available | 2019-02-28T11:04:12Z | |
| date copyright | 11/23/2017 12:00:00 AM | |
| date issued | 2018 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_010_01_014501.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4252334 | |
| description abstract | In this work, we present a closed-form model, which describes the kinematics of fiber-reinforced elastomeric enclosures (FREEs). A FREE actuator consists of a thin elastomeric tube surrounded by reinforcing helical fibers. Previous models for the motion of FREEs have relied on the successive compositions of “instantaneous” kinematics or complex elastomer models. The model presented in this work classifies each FREE by the ratio of the length of its fibers. This ratio defines the behavior of the FREE regardless of the other parameters. With this ratio defined, the kinematic state of the FREE can then be completely described by one of the fiber angles. The simple, analytic nature of the model presented in this work facilitates the understanding and design of FREE actuators. We demonstrate the application of this model in an actuator design case study. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Closed-Form Kinematic Model for Fiber-Reinforced Elastomeric Enclosures | |
| type | Journal Paper | |
| journal volume | 10 | |
| journal issue | 1 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4038220 | |
| journal fristpage | 14501 | |
| journal lastpage | 014501-6 | |
| tree | Journal of Mechanisms and Robotics:;2018:;volume( 010 ):;issue: 001 | |
| contenttype | Fulltext | |
