Dynamic Finite Element Modeling and Simulation of Soft Robots

Abstract Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at material level. An increasing number researchers are interested in designing, manufacturing, modeling, control. However, dynamic simulation soft is difficult infinite degrees freedom nonlinear characteristics that associated materials flexible geometric structures. In this study, a novel multi-flexible body modeling technique introduced for robots. Various actuators modeled virtual environment, including cable-driven, spring actuation, pneumatic driving. A driving was demonstrated by bending modules different materials. cable-driven arm prototype cylindrical module actuated shape memory alley springs inspired an octopus were manufactured used validate model, experimental results adequate accuracy. The proposed can be widely applied other robots, hybrid rigid-flexible coupling This study also provides fundamental framework simulating mobile manipulators contact environment.