Kinematic Modeling of a Miniaturized Configurable Parallel Robot with Soft Joints for Real-Time Control
7TH INTERNATIONAL CONFERENCE ON MANIPULATION, AUTOMATION, AND ROBOTICS AT SMALL SCALES, MARSS 2024（2024）
Key words
Soft Joint,Parallel Robot,Finite Element Model,Joint Mechanics,Behaviour Of Joints,Microrobots,Accuracy Of Model,Computation Time,Young’s Modulus,Polydimethylsiloxane,Maximum Error,Stiffness Matrix,Inverse Kinematics,Beam Elements,Highest Position,Joint Type,First-order Taylor Expansion,Revolute Joints,End-effector Position,Part Of Platform,Rigid Body Model,Travel Range,Quadratic Interpolation
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