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Granular Jamming in Soft Robotics: Simulation Frameworks and Emerging Possibilities-Review.

Stella Hrehova1, Alexander Hošovský1, Jozef Husár1

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Summary
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Choosing the right simulation framework is key for designing soft robotic devices that use granular jamming. Hybrid methods offer accuracy but require more computation, guiding future soft robotics development.

Keywords:
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Area of Science:

  • Soft robotics
  • Granular jamming
  • Continuum mechanics

Background:

  • Soft robotics leverages deformable materials for adaptable and safe interaction in complex environments.
  • Designing and optimizing soft robotic systems is challenging due to the nonlinear behavior of granular materials.
  • Granular jamming is a key mechanism for controlling soft robotic devices.

Purpose of the Study:

  • To review simulation tools and approaches for granular-jamming-based soft robotic systems.
  • To analyze the role of simulation frames in understanding and designing these devices.
  • To focus on continuum arms with granular-jamming-based backbones.

Main Methods:

  • Analysis of Discrete Element Method (DEM) for particle-level mechanisms.
  • Evaluation of Finite Element Method (FEM) for system-level optimization.
  • Exploration of hybrid FEM-DEM approaches for enhanced physical accuracy.

Main Results:

  • DEM effectively captures particle-level interactions in granular jamming.
  • FEM is suitable for system optimization but may smooth jamming transitions.
  • Hybrid FEM-DEM methods provide high physical accuracy at a higher computational cost.

Conclusions:

  • The selection of simulation frameworks should be application-specific.
  • Multiphysics coupling is crucial for future advancements in soft robotics.
  • Simulation methods can optimize backbone geometry and filling materials for real-time control.