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Simulate a Tube Robot #60

Answered by skim0119
LMI-pewpew asked this question in Q&A
Feb 15, 2022 · 1 comments · 3 replies
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@LMI-pewpew Hi,

Yes, you can simulate tubes. I'm also working on a softrobot project that uses a silicon tube, and I'm using PyElastica as a simulation tool. I use CosseratRod in the package and manually modify the area, bend_matrix, and shear_matrix.

In my experience, the simulation gives accurate kinematics as long as there is no buckling. Also, I wouldn't expect the change in radius to be accurate, since the original CosseratRod assumes a circular (not hollow) cross-section, but I found this is not significant for a mild deformation.

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Answer selected by armantekinalp
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