Deformation Analysis of Planar Closed Chain Compliant Mechanism and Soft Robot Using Matlab Simscape and Anfis

Compliant mechanism and soft robotics designs are considered emerging technologies since they tend to bend through their flexible bodies and accomplish advanced and challenging tasks without the requirement of a complex design. Although compliant mechanisms and soft robots have superiorities over traditionally designed systems, modeling such flexible systems is still difficult. In this study, we present the design and development of a compliant fivebar mechanism and a soft five-link robot and analyze the modeling by creating Matlab Simscape models and ANFIS. Both models are validated through the experimental setups using a six-degree of freedom position sensor.