Simulation of soft robots with nonlinear material behavior using the cosserat rod theory

Publikationstyp
Conference Paper
Date Issued
2022-11-24
Sprache
English
Author(s)
Grube, Malte  
Seifried, Robert  orcid-logo
Institut
Mechanik und Meerestechnik M-13  
TORE-DOI
10.15480/882.4790
TORE-URI
http://hdl.handle.net/11420/14308
Citation
8th European Congress on Computational Methods in Applied Sciences and Engineering (ECCOMAS 2022)
Contribution to Conference
8th European Congress on Computational Methods in Applied Sciences and Engineering, ECCOMAS 2022  
Publisher DOI
10.23967/eccomas.2022.252
Scopus ID
2-s2.0-85146960617
Publisher
SCIPEDIA
Peer Reviewed
true
For the simulation and model-based control of soft robots accurate models are required. In this contribution the simulation of a simple soft robot with the cosserat rod theory is examined for both linear and nonlinear material models. The soft robot is fabricated out of silicone. Thereby stiffness and damping properties are investigated. In addition to the achievable accuracy, the computation time is also examined.
Subjects
soft robotics
cosserat rod
nonlinear material
DDC Class
004: Informatik
600: Technik
620: Ingenieurwissenschaften
Lizenz
https://creativecommons.org/licenses/by-nc-sa/3.0/
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