Modeling and Validation of Compliant Mechanisms and Soft Robots in MATLAB Simscape

Abstract

Abstract This paper reports on Simscape modeling and experimental validation of compliant mechanisms and soft robotic systems. During the past decade, there has been a lot of advancements in terms of the development of novel soft robotic systems, actuators, and sensors. However, efficient modeling of these systems is still a challenge for researchers. This is due to the existence of nonlinearities such as large deformation in the structure of soft robotic systems and compliant mechanisms. While analytical models can be used for conventional rigid robots, the application of these models for soft robots is limited. Simscape is an efficient tool for modeling soft robotic systems and compliant mechanisms as it can take into account large deformation. To validate the developed Simscape models we used a 6 DOF electromagnetic position sensor for each of the example systems such as a compliant bistable mechanism, compliant linear actuator, and a soft Delta robot.