Research Article
A Computing Method to Determine the Performance of an Ionic Liquid Gel Soft Actuator
Table 1
Comparison of the calculated tensile stress with the experimental data from the uniaxial tensile test.
| Measurement data | Experimental results | Five-parameter Mooney-Rivlin model | Nine-parameter Mooney-Rivlin model | Force (mN) | Deformation (mm) | Strain (%) | Stress (kPa) | Calculated stress () (kPa) | Error (%) | Calculated stress () (kPa) | Error (%) |
| 4.97 | 2.0 | 5.7 | 0.50 | 0.50 | 0.46 | 0.50 | 0.00 | 8.21 | 3.5 | 10 | 0.86 | 0.86 | 0.51 | 0.86 | 0.07 | 14.88 | 7.0 | 20 | 1.70 | 1.70 | 0.26 | 1.70 | 0.03 | 20.52 | 10.5 | 30 | 2.54 | 2.54 | 0.06 | 2.55 | 0.26 | 25.35 | 14.0 | 40 | 3.38 | 3.37 | 0.24 | 3.39 | 0.29 | 29.47 | 17.5 | 50 | 4.21 | 4.21 | 0.13 | 4.23 | 0.44 | 33.06 | 21.0 | 60 | 5.04 | 5.04 | 0.09 | 5.07 | 0.49 | 36.22 | 24.5 | 70 | 5.86 | 5.86 | 0.05 | 5.90 | 0.68 | 38.94 | 28.0 | 80 | 6.68 | 6.69 | 0.07 | 6.73 | 0.8 | 41.48 | 31.5 | 90 | 7.50 | 7.50 | 0.01 | 7.57 | 0.87 | 43.58 | 35.0 | 100 | 8.30 | 8.30 | 0.05 | 8.39 | 1.10 | 45.50 | 38.5 | 110 | 9.10 | 9.10 | 0.01 | 9.21 | 1.21 | 47.13 | 42.0 | 120 | 9.88 | 9.88 | 0.02 | 10.02 | 1.41 | 48.67 | 45.5 | 130 | 10.65 | 10.65 | 0.01 | 10.82 | 1.57 | 49.98 | 49.0 | 140 | 11.41 | 11.41 | 0.04 | 11.60 | 1.67 | 51.03 | 52.5 | 150 | 12.15 | 12.14 | 0.06 | 12.37 | 1.80 | 51.95 | 56.0 | 160 | 12.86 | 12.86 | 0.01 | 13.12 | 2.03 | 52.75 | 59.5 | 170 | 13.56 | 13.56 | 0.01 | 13.86 | 2.19 | 53.40 | 63.0 | 180 | 14.24 | 14.24 | 0.0 | 14.58 | 2.35 | 53.90 | 66.5 | 190 | 14.89 | 14.90 | 0.05 | 15.27 | 2.58 | 54.32 | 70.0 | 200 | 15.52 | 15.53 | 0.06 | 15.95 | 2.79 | 54.65 | 73.5 | 210 | 16.12 | 16.14 | 0.11 | 16.61 | 3.05 | 54.78 | 77.0 | 220 | 16.70 | 16.72 | 0.10 | 17.25 | 3.29 | 54.86 | 80.5 | 230 | 17.25 | 17.27 | 0.11 | 17.86 | 3.55 | 54.94 | 84.0 | 240 | 17.78 | 17.79 | 0.07 | 18.45 | 3.78 | 54.84 | 87.5 | 250 | 18.28 | 18.28 | 0.01 | 19.02 | 4.02 | 54.72 | 91.0 | 260 | 18.74 | 18.74 | 0.00 | 19.55 | 4.32 | 54.47 | 94.5 | 270 | 19.18 | 19.16 | 0.08 | 20.05 | 4.56 | 54.01 | 98.0 | 280 | 19.57 | 19.55 | 0.09 | 20.53 | 4.89 | 53.61 | 101.5 | 290 | 19.93 | 19.90 | 0.14 | 20.97 | 5.19 | 53.23 | 105.0 | 300 | 20.24 | 20.21 | 0.13 | 21.37 | 5.57 | 52.48 | 108.5 | 310 | 20.50 | 20.49 | 0.07 | 21.73 | 6.00 | 51.83 | 112.0 | 320 | 20.73 | 20.71 | 0.08 | 22.05 | 6.38 | 51.02 | 115.5 | 330 | 20.91 | 20.90 | 0.05 | 22.34 | 6.81 | 50.29 | 119.0 | 340 | 21.04 | 21.04 | 0.01 | 22.57 | 7.29 | 49.21 | 122.5 | 350 | 21.12 | 21.13 | 0.06 | 22.77 | 7.80 | 48.25 | 126.0 | 360 | 21.16 | 21.18 | 0.08 | 22.92 | 8.31 | 47.17 | 129.5 | 370 | 21.15 | 21.17 | 0.10 | 23.03 | 8.87 |
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