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Mechanics–Based Virtual Prototyping of Robots with Deformable Bodies and Flexible Joints

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Book cover Design Tools and Methods in Industrial Engineering (ADM 2019)

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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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.

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Notes

  1. 1.

    https://www.3ds.com/.

  2. 2.

    https://www.mscsoftware.com/.

  3. 3.

    https://functionbay.com/.

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Authors and Affiliations

  1. Fraunhofer Joint Lab IDEAS, Dipartimento di Ingegneria Industriale, Università degli Studi di Napoli Federico II, P.le Tecchio 80, 80125, Naples, Italy

    Stanislao Grazioso, Giuseppe Di Gironimo & Antonio Lanzotti

Authors
  1. Stanislao Grazioso
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  2. Giuseppe Di Gironimo
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  3. Antonio Lanzotti
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Corresponding author

Correspondence to Stanislao Grazioso .

Editor information

Editors and Affiliations

  1. Dipartimento di Ingegneria Gestionale, dell‘Informazione e della Produzione, Università di Bergamo, Dalmine, Italy

    Caterina Rizzi

  2. Dipartimento Di Ingegneria “Enzo Ferrari”, Università Di Modena E Reggio Emilia, Modena, Italy

    Angelo Oreste Andrisano

  3. Dipartimento Di Ingegneria “Enzo Ferrari”, Università Di Modena E Reggio Emilia, Modena, Italy

    Francesco Leali

  4. Dipartimento Di Ingegneria “Enzo Ferrari”, Università Di Modena E Reggio Emilia, Modena, Italy

    Francesco Gherardini

  5. Dipartimento Di Ingegneria “Enzo Ferrari”, Università Di Modena E Reggio Emilia, Modena, Italy

    Fabio Pini

  6. Dipartimento Di Ingegneria “Enzo Ferrari”, Università Di Modena E Reggio Emilia, Modena, Italy

    Alberto Vergnano

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Grazioso, S., Di Gironimo, G., Lanzotti, A. (2020). Mechanics–Based Virtual Prototyping of Robots with Deformable Bodies and Flexible Joints. In: Rizzi, C., Andrisano, A.O., Leali, F., Gherardini, F., Pini, F., Vergnano, A. (eds) Design Tools and Methods in Industrial Engineering. ADM 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-31154-4_38

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  • DOI: https://doi.org/10.1007/978-3-030-31154-4_38

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-31153-7

  • Online ISBN: 978-3-030-31154-4

  • eBook Packages: EngineeringEngineering (R0)

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