Motion Analysis of Closed-Chain Soft Robots in MATLAB Simscape
Disciplines
Acoustics, Dynamics, and Controls | Computer-Aided Engineering and Design
Abstract (300 words maximum)
Soft robots have received great attention due to their inherent properties of imitating the bionic motion we see in nature. Robots incorporating soft members deform when subjected to loading with enhanced motion capabilities and possess a simple manufacturing process compared to their rigid counterparts. However, despite their superiorities, it remains a challenging task to obtain the dynamic model of complex soft robots. In this study, we designed several closed-chain soft robots and developed the physical models as a single piece using a dual extruder 3D printer and created MATLAB Simscape models with a mask to enable the user interface so the user change geometry and material properties. The Simscape models of soft robots are validated through image processing.
Academic department under which the project should be listed
SPCEET - Mechanical Engineering
Primary Investigator (PI) Name
Ayse Tekes
Motion Analysis of Closed-Chain Soft Robots in MATLAB Simscape
Soft robots have received great attention due to their inherent properties of imitating the bionic motion we see in nature. Robots incorporating soft members deform when subjected to loading with enhanced motion capabilities and possess a simple manufacturing process compared to their rigid counterparts. However, despite their superiorities, it remains a challenging task to obtain the dynamic model of complex soft robots. In this study, we designed several closed-chain soft robots and developed the physical models as a single piece using a dual extruder 3D printer and created MATLAB Simscape models with a mask to enable the user interface so the user change geometry and material properties. The Simscape models of soft robots are validated through image processing.