Parametrically Modeled DH Table for Soft Robot Kinematics: Case Study for A Soft Gripper

  • Po Ting LinEmail author
  • Ebrahim Shahabi
  • Kai-An Yang
  • Yu-Ta Yao
  • Chin-Hsing Kuo
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


Recently, researches and innovations were greatly developed in the field of soft robotics due to the advantages of higher flexibility and safer operations. Researchers have designed new materials, new manufacturing methodologies and advanced control techniques for soft robots. Some commercial products such as soft grippers are now available in the market and applied in the area of agriculture, medicine, machinery, etc. This paper aims to show how to mathematically describe the motions of soft robots. A method of parametrically modeled Denavit-Hartenberg (DH) parameters was used for soft robot kinematic analysis. A soft finger with soft polydimethylsiloxane (PDMS) body and rigid polylactic acid (PLA) bone structures were made by a molding process and actuated by cable. The bending motion of the soft finger changed the link angle and the link length of the soft finger, which were parametrically modeled. This case study showed the DH parameters of the soft finger nonlinearly changed with respect to the control parameter.


DH Parameter Soft Gripper PDMS 3D Printing Cable Molding 


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This work was financially supported by the “Center for Cyber-physical System Innovation” and “High-Speed 3D Printing Center” from The Featured Areas Research Center Program within the framework of the Higher Education Sprout Project by the Ministry of Education (MOE) in Taiwan. This paper was also supported by the Ministry of Science and Technology, Taiwan (grant numbers MOST 106-2221-E-033-025, MOST 107-2221-E-011-088, and MOST 107-2218-E-011-021).


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringNational Taiwan University of Science and TechnologyTaipeiTaiwan
  2. 2.Center for Cyber-Physical System InnovationNational Taiwan University of Science and TechnologyTaipeiTaiwan
  3. 3.High-Speed 3D Printing CenterNational Taiwan University of Science and TechnologyTaipeiTaiwan

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