Dynamics modeling of a soft arm under the Cosserat theory

With the rapid development of robotics, soft robots have received great attention for their superior safety and flexibility. This paper differs from previous kinematic models, and a dynamic model is given based on Cosserat theory. First, the kinematic model of the soft arm is discussed. Further, inspired by rigid robots, Newton inverse kinematics is applied to obtain the Lagrangian dynamic equations of the system. Subsequently, a rope-driven actuator model is provided. Finally, the bending process of the soft arm is provided in $2D, 3D$ and the relationship with the motor tension are discussed in the numerical simulation.