A Static Modelling and Evaluation Framework for Soft Continuum Robots with Reinforced Chambers
Jialei Shi, Hanyu Jin, Wenlong Gaozhang, Ge Shi, Sara Adela Abad Guaman, Helge Arne Wurdemann
Abstract
Elastomer-based soft manipulators, featuring fibre-reinforced chambers, represent a prevalent design paradigm in the field of soft robotics. These robots incorporate multiple reinforced actuation chambers, enabling robust elongation and omni-directional bending motions. However, the inherent compliance of materials and the pressurised chambers inevitably introduce significant nonlinearity to these soft robots. Moreover, design of such robots often relies on a trial-and-error approach. Consequently, a comprehensive robot prototyping framework is of paramount importance. To achieve this, we present a static modelling, design and evaluation framework for soft robots with densely reinforced chambers (i.e., the angle between the reinforcement fibre and the axial direction of soft robots is 90. We first propose a static analytical modelling framework to achieve both the forward kinematics and tip force generation modelling of soft robots. This modelling framework accommodates the effects of pressurised chambers and (non)linear material behaviours. Furthermore, our design and evaluation framework incorporates an open-accessible simulation toolbox with a user-friendly grap