MOOSE-Based Finite Element Hyperelastic Modeling for Soft Robot Simulations

摘要

While soft robotics is an emerging frontier of the robotics field, the accurate modeling of large deformations of soft hyperelastic materials remains a challenge. Herein, we build on the existing open-source Multiphysics Object Oriented Simulation Environment (MOOSE) to accurately model neo-Hookean hyperelastic materials under user-defined loads and large strains. Excellent agreement between the simulated and theoretical results is obtained for simple geometries. Next, we show that the application can accurately model and predict the response of a real, soft pneumatic actuator. To conclude, the advantages of the open-source nature of our simulation environment are shown by demonstrating how direct control over many simulation parameters can allow users to tailor the accuracy, convergence, and speed of their simulations.