Modeling the Soft Continuum Robot Based on Large Deflection Theorem

How to model the dynamics and represent the behavior of soft continuum robot accurately and efficiently has always been a challenging problem. In this paper, a new soft continuum robot dynamic model modeling idea is proposed, that is, the pneumatic soft continuum robot is regarded as a variable-stiffness beam structure when bending. The stiffness of the variable-stiffness beam structure is related to the input air pressure, and a large deflection theorem is employed for force analysis of the variable-stiffness beam. Finally, the soft continuous robot pressure model is used to solve the deflection curve equation. In the experiment, the bending posture of the soft continuum robot obtained by the visual capture system was compared with the simulation results, and the average error of the model was 8.5%