A Geometrically Exact Model for Soft Continuum Robots: The Finite Element Deformation Space Formulation

Mathematical modeling of soft robots is complicated by the description of the continuously deformable three-dimensional shape that they assume when subjected to external loads. In this article we present the deformation space formulation for soft robots dynamics, developed using a finite element app...

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Bibliographic Details
Published inSoft robotics Vol. 6; no. 6; p. 790
Main Authors Grazioso, Stanislao, Di Gironimo, Giuseppe, Siciliano, Bruno
Format Journal Article
LanguageEnglish
Published United States 01.12.2019
Subjects
Cosserat rods
differential geometry
mathematical modeling
continuum robots
dynamics
soft robotics
Online AccessGet more information
ISSN2169-5180
DOI10.1089/soro.2018.0047

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Summary:Mathematical modeling of soft robots is complicated by the description of the continuously deformable three-dimensional shape that they assume when subjected to external loads. In this article we present the deformation space formulation for soft robots dynamics, developed using a finite element approach. Starting from the Cosserat rod theory formulated on a Lie group, we derive a discrete model using a helicoidal shape function for the spatial discretization and a geometric scheme for the time integration of the robot shape configuration. The main motivation behind this work is the derivation of accurate and computational efficient models for soft robots. The model takes into account bending, torsion, shear, and axial deformations due to general external loading conditions. It is validated through analytic and experimental benchmark. The results demonstrate that the model matches experimental positions with errors <1% of the robot length. The computer implementation of the model results in SimSOFT, a dynamic simulation environment for design, analysis, and control of soft robots.
ISSN:2169-5180
DOI:10.1089/soro.2018.0047