Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
Viscoelasticity of soft objects, such as food products, plays an important role in robotic handling and manipulation. Comparing to linear viscoelasticity, nonlinear viscoelasticity of soft objects has not been investigated intensively and it is of great concern when large deformation occurs during robotic handling or manipulation. In this paper, a nonlinear viscoelastic model was proposed and an approach for estimating the nonlinear properties was established based on time-scale transformation. Simulation was performed to validated the nonlinear model and the property estimation approach.
