This paper describes a mechanics–based framework for virtual prototyping of soft robots, i.e. robots with deformable bodies and flexible joints. The framework builds on top of the screw theory, and uses geometrically exact nonlinear beam models for describing the behavior of deformable bodies, as well as the finite element method for space discretization. The computer implementation of this framework results in SimSOFT, a physics engine for soft robots. The capabilities of the framework are illustrated with one general example, an articulated chain of rigid and soft links connected through rigid and flexible joints. Furthermore, several case studies are shown for industrial and medical applications.
Mechanics–Based Virtual Prototyping of Robots with Deformable Bodies and Flexible Joints / Grazioso, S.; Di Gironimo, G.; Lanzotti, A.. - (2020), pp. 444-457. (Intervento presentato al convegno International Conference on Design Tools and Methods in Industrial Engineering, ADM 2019 tenutosi a ita nel 2019) [10.1007/978-3-030-31154-4_38].
Mechanics–Based Virtual Prototyping of Robots with Deformable Bodies and Flexible Joints
Grazioso S.;Di Gironimo G.;Lanzotti A.
2020
Abstract
This paper describes a mechanics–based framework for virtual prototyping of soft robots, i.e. robots with deformable bodies and flexible joints. The framework builds on top of the screw theory, and uses geometrically exact nonlinear beam models for describing the behavior of deformable bodies, as well as the finite element method for space discretization. The computer implementation of this framework results in SimSOFT, a physics engine for soft robots. The capabilities of the framework are illustrated with one general example, an articulated chain of rigid and soft links connected through rigid and flexible joints. Furthermore, several case studies are shown for industrial and medical applications.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
