Dynamic Finite Element Modeling and Simulation of Soft Robots

被引:0
作者
Liang Ding
Lizhou Niu
Yang Su
Huaiguang Yang
Guangjun Liu
Haibo Gao
Zongquan Deng
机构
[1] Harbin Institute of Technology,State Key Laboratory of Robotics and Systems
[2] Ryerson University,Department of Aerospace Engineering
来源
Chinese Journal of Mechanical Engineering | 2022年 / 35卷
关键词
Soft robot; Finite-element modeling; Dynamic simulation;
D O I
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中图分类号
学科分类号
摘要
Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material level. An increasing number of researchers are interested in their designing, manufacturing, modeling, and control. However, the dynamic simulation of soft robots is difficult owing to their infinite degrees of freedom and nonlinear characteristics that are associated with soft materials and flexible geometric structures. In this study, a novel multi-flexible body dynamic modeling and simulation technique is introduced for soft robots. Various actuators for soft robots are modeled in a virtual environment, including soft cable-driven, spring actuation, and pneumatic driving. A pneumatic driving simulation was demonstrated by the bending modules with different materials. A cable-driven soft robot arm prototype and a cylindrical soft module actuated by shape memory alley springs inspired by an octopus were manufactured and used to validate the simulation model, and the experimental results demonstrated adequate accuracy. The proposed technique can be widely applied for the modeling and dynamic simulation of other soft robots, including hybrid actuated robots and rigid-flexible coupling robots. This study also provides a fundamental framework for simulating soft mobile robots and soft manipulators in contact with the environment.
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