Résumé
This article serves as supplementary material to the conference paper entitled "Modeling of a Thick Cylindrical Pneumatic Leg for a Soft Parallel Robot" submitted to 2024 IEEE International Conference on Soft Robotics (RoboSoft). The equations and figures are numbered in accordance with the main paper and the same symbols are used. Using the Yeoh model to present the strain energy density function, the analytical solutions of the pressure and the external axial force are presented in Section 1 and Section 2, respectively. The sensitivity analysis of the pressure and the axial force models with respect to the Yeoh material constants is given in Section 3. Finally, the experimental aspect is confronted in Section 4. Four identical thick cylindrical actuators are fabricated and pressurized progressively to check the impact of the used material on the performance of the actuator.