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. 2020 Nov 6;3(1):289–293. doi: 10.1109/TMRB.2020.3036461

Fig. 7.

Fig. 7.

FE modeling of the swab gripper when subjected to external forces: (a) the mesh results with the force, contacts, and the boundary conditions shown, (b) the displacement results under 2.50N, and (c) the force-displacement relationship with the forces applied from 0 to 2.50N.