A Parameterized Description of Force Output of Soft Arms in Full Workspace

In this paper, aiming at fully taking advantage of soft manipulators working ability, we propose a parameterized approximating method to characterize their force output in full workspace. We define the Workspace-Load bearing capacity Cloud (WLC) of soft arms and present the method to calculate WLC in the three-dimensional space by linear fitting. At last, finite element analysis is used to validate its effectiveness in characterizing the force output of soft arms in full workspace.