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A Geometrically Exact Model for Soft Continuum Robots: The Finite Element Deformation Space Formulation
Stanislao Grazioso1, Giuseppe Di Gironimo1, Bruno Siciliano2
1Department of Industrial Engineering, University of Naples Federico II and CREATE Consortium, Napoli, Italy.
Soft Robotics
|November 28, 2018
Summary
This study introduces a new mathematical model for soft robot dynamics using finite element analysis. The deformation space formulation accurately predicts robot movement, achieving less than 1% error in experimental validation.
Area of Science:
- Robotics
- Mechanical Engineering
- Computational Mechanics
Background:
- Modeling soft robots is challenging due to their complex, continuously deformable shapes under load.
- Existing models often lack accuracy or computational efficiency for dynamic simulations.
Purpose of the Study:
- To develop an accurate and computationally efficient mathematical model for soft robot dynamics.
- To present the deformation space formulation for soft robot analysis.
Main Methods:
- Utilized a finite element approach based on Cosserat rod theory on a Lie group.
- Employed a helicoidal shape function for spatial discretization and geometric integration for time dynamics.
- Incorporated bending, torsion, shear, and axial deformations.
Main Results:
- The model accurately captures soft robot dynamics, including complex deformations.
- Validation against analytical and experimental benchmarks showed errors below 1% of the robot length.
- The computer implementation, SimSOFT, provides a dynamic simulation environment.
Conclusions:
- The deformation space formulation offers an accurate and efficient method for modeling soft robot dynamics.
- The developed model and simulation environment (SimSOFT) are suitable for design, analysis, and control of soft robots.
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