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MAT-DiSMech: A Discrete Differential Geometry-Based Computational Tool for Simulation of Rods, Shells, and Soft

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This study introduces a new soft robot simulator using discrete differential geometry. It balances accuracy and efficiency for modeling complex deformations, enhancing the Sim2Real pathway in robotics.

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Area of Science:

  • Robotics
  • Computational Mechanics
  • Soft Systems Engineering

Background:

  • Accurate simulation is crucial for robotics, especially in soft robotics with complex deformations.
  • Existing simulators often trade physical accuracy for computational efficiency or vice versa.
  • High-fidelity methods like finite element analysis are computationally expensive for soft structures.

Purpose of the Study:

  • To present a novel discrete differential geometry-based simulator for soft robots.
  • To achieve a balance between physical accuracy and computational efficiency in soft robot simulation.
  • To provide an open-source, customizable framework for simulating soft robot dynamics.

Main Methods:

  • Utilized discrete differential geometry for modeling soft robot structures (rods, shells).
  • Employed implicit integration techniques for simulating deformations.
  • Implemented various physical forces: gravity, contact, damping, drag (hydrodynamic, aerodynamic).

Main Results:

  • Developed an open-source MATLAB-based simulator balancing accuracy and computational cost.
  • Demonstrated accurate simulation of soft robot deformations, including combinations of rods and shells.
  • Validated the simulator's physical accuracy through illustrative examples.

Conclusions:

  • The proposed simulator offers a computationally tractable method for accurately modeling soft robots.
  • The modular design allows for user customization and extension.
  • The tool serves as a digital twin, improving the Sim2Real transfer in soft robotics research.