Modeling and Actuation of Cable-driven Silicone Soft Robots

Mihai Frâncu
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Abstract

In this paper we present a framework for modeling cable-driven soft robots fabricated from silicone rubber an incompressible material. Our forward simulation model can use either the standard or the mixed formulation of the finite element method (FEM). The latter prevents volumetric locking for incompressible materials and is more accurate for low resolution meshes. Hence, we show that mixed FEM is well suited for estimating elastic parameters and simulator validation. We also introduce a cable actuation model using barycentric coordinates and then use it to solve some simple control problems. CCS Concepts • Computing methodologies → Physical simulation; • Computer systems organization → Robotics;
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电缆驱动硅胶软机器人的建模与驱动
在本文中,我们提出了一个框架,建模由不可压缩材料硅橡胶制成的电缆驱动软机器人。我们的正演模拟模型既可以采用标准有限元法,也可以采用混合有限元法。后者可以防止不可压缩材料的体积锁定,并且对于低分辨率网格更准确。因此,我们表明混合有限元法非常适合于估计弹性参数和模拟器验证。本文还介绍了一种采用质心坐标的缆索作动模型,并用它来解决一些简单的控制问题。•计算方法→物理模拟;•计算机系统组织→机器人;
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