Fig. 4: The sensitivity, compliance, workspace and reach-ability analysis of coupled/independent manipulators with varied stiffness ratio λstiff. | npj Robotics

Fig. 4: The sensitivity, compliance, workspace and reach-ability analysis of coupled/independent manipulators with varied stiffness ratio λstiff.

From: Trimmed helicoids: an architectured soft structure yielding soft robots with high precision, large workspace, and compliant interactions

Fig. 4

a The relationship between the workspace volume to the stiffness ratio λstiff. b The relationship between average reachability to the stiffness ratio λstiff. c The relationship between the averaged sensitivity to tendon force (TF) and the stiffness ratio λstiff. d The relationship between the averaged sensitivity to tendon length (TL) and the stiffness ratio λstiff. e The relationship between the averaged compliance and the stiffness ratio λstiff. f The definition diagrams of Sensitivity and Compliance. (i) ∆TF/TL is the variation of tendon force/length, and ∆d the resulted manipulator end displace variation. (ii) ∆F is the variation of load on the end of the manipulator, and ∆d the resulted manipulator end displace variation.

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