Integrative Simulation of Electromechanical Behavior in Soft Robotics: A Study of Solid Mechanics and Electric Current Fields

Soft robot simulation is an essential tool for analyzing the performance of flexible materials under conditions involving high degrees of freedom and deformation. Unlike conventional rigid robots, soft robots have attracted significant attention due to their inherent flexibility and their ability to navigate and adapt within complex environments. Despite their advantages, most existing soft robots lack the ability to perceive their own deformation. This paper aims to bridge this gap by integrating solid mechanics with electric current fields to enhance the simulation of soft robots. Using numerical grids, circulating current excitation, and surface potential measurement methods, this study conducts simulation research on soft robots undergoing three distinct types of deformation: bending, elongation, and rotation. These deformations are chosen to represent a wide range of movements and stresses that soft robots may encounter in practical applications. By examining these deformations through detailed case studies, we can deepen our understanding of soft robot structures within a simulation environment. The integration of solid mechanics and electric current fields allows for a more comprehensive simulation, providing insights into how soft robots react to various forces and movements. Numerical grids facilitate the precise mapping of deformation across the robot's body, while circulating current excitation and surface potential measurements enable real-time feedback on the robot's structural integrity and functional performance.