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Four-Dimensional Printing of Stimuli-Responsive Hydrogel-Based Soft Robots

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Continuum-Based Geometry/Analysis Approach for Flexible and Soft Robotic Systems.

Ahmed A Shabana¹

¹Department of Mechanical and Industrial Engineering, University of Illinois at Chicago , Chicago, Illinois.

|June 30, 2018

Summary

This summary is machine-generated.

This study introduces a unified approach for modeling and analyzing flexible and soft robotic systems (FSRS). It enables efficient virtual prototyping and design by integrating geometry, material models, and joint constraints using advanced finite element methods.

Keywords:

absolute nodal coordinate formulation large deformation robot geometry soft robot actuation soft robot analysis

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Area of Science:

Robotics
Mechanical Engineering
Computational Mechanics

Background:

Control and stability of flexible and soft robotic systems (FSRS) are critical, especially with lightweight materials.
Existing methods lack a unified continuum-based approach for efficient FSRS virtual prototyping and design.

Purpose of the Study:

Propose a novel geometric modeling and analysis methodology for FSRS virtual prototyping.
Address challenges in integrating robot geometry and analysis, material models, actuation forces, and joint constraints.

Main Methods:

Utilize the finite element (FE) absolute nodal coordinate formulation (ANCF) for modeling.
Employ multibody system computational algorithms for dynamic analysis.
Develop efficient and robust algorithms for virtual prototyping.

Main Results:

ANCF FEs enable modeling of large, coupled displacements and complex geometries.
The method supports general material models, unconventional actuation forces, and advanced joint constraints.
A constant inertia matrix leads to an optimally sparse dynamic equation structure.

Conclusions:

The proposed methodology provides a unified continuum-based approach for FSRS.
It facilitates efficient virtual prototyping and design of complex soft robots.
The nonmodal approach accurately captures complex geometry and large deformations in FSRS.