Simulation of Soft Robot Hand

September 30, 2022

This was one of my personal projects that I did in Summer 2022.

Soft Robot Simulation is one of the challenging topics till now so many data-driven approaches are extensively researched upon. Simulation software like SOFA makes it easy to work and their solvers do the work showing close to realistic behaviours.

The prototypes were designed in SolidWorks and the FEM analysis of these structures were carried out.

Based on the higher bending angle on application of same amount of pressure, Prototype 4 was chosen for the simulation purpose

The structure was meshed and exported for simulation

After importing in SOFA, various material properties, solvers, and constraints were defined and satisfactory motion of fingers were recorded

To check out the documentation of the work till now, click here