Mechanics of fiber-reinforced soft manipulators based on inhomogeneous Cosserat rod theory

In this study, an inhomogeneous Cosserat rod theory is introduced and compared to the conventional homogeneous for modeling soft manipulators. The inhomogeneity addressed by considering pressure actuation as part of rod's constitutive laws, resulting in shifting neutral axis. This shift investigated a manipulator with three parallel fiber-reinforced actuators. Furthermore, actuator modeled using nonlinear continuum mechanics extract effect radial on axial deformation combined model. Finally, several numerical methods are employed solve proposed model validated series experiments.