Research on Modeling and Simulation of Cable-driven Bionic Octopus Arm based on SimMechanics

摘要

In this paper, cable-driven method is used as the working principle of the bionic octopus flexible arm, and a piecewise constant curvature method is used to model the kinematics of the flexible arm. Because the geometric method does not consider the deformation and internal force of the elastic material when modeling the flexible arm, the characteristics of the flexible arm motion cannot be well reflected during the dynamic motion. Using the SimMechanics module to build a multi-rigid model connected by elastic materials can simplify the modeling process. And, its dynamic simulation results are closer to the characteristic of the real cable-driven bionic flexible arm motion.