Nikolaos Charalampos Chairopoulos

Modeling, Simulation and Experimental Validation of a Tendon-driven Soft-arm Robot Configuration - A Continuum Mechanics Method

This paper presents the mathematical derivation and experimental validation of a computational model, which accurately predicts static, large-strain deformations of tendon driven non-slender soft-arm manipulators subjected to gravity. The large strain behaviors are captured by employing the Green-La…