A SOFA plugin to simulate linear structures using Cosserat theory
License: GNU Lesser General Public License v3.0
C++ 95.92%Python 0.55%C 0.02%CMake 3.51%
cosserat's Introduction
Description
Cosserat model has been introduced in continuum robotics to simulate the deformation of the robot body whose geometry
and mechanical characteristics are similar to a rod.
By extension, this model can be used to simulate needles, wires.
The specificity of Cosserat's theory from the point of view of the mechanics of continuous media, is to consider that: each material point
of an object is rigid body(3 translations, 3 rotations), where most other models of continuum media mechanics consider
the material point as particles (3 translations).
For the modeling of linear structures, it is therefore possible to find a framework very close to the articulated solids with a series
of rigid body whose relative position is defined by a strain state.
This model can be used to model and control concentric tube robots, continuum robots actuated with cables, or pneumatic soft robots
with a constant cross-section.
Features
Pieces-wise constant Strain PCS: This feature is base on the paper
Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shearsLink to the paper
Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft RobotsLink to the paper
Pieces-wise Non-constant Strain:
DCM with Plastic model
Modelling cochlear implant using Discret Cosserat Model (DCM)
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DCM for cable modeling to control deformable robots: