Soft robotics has been a trending topic within the robotics community for almost two decades. However, the available tools for the community to model and analyze soft robotics artifacts are still limited. This paper presents the development of a user-friendly MATLAB toolbox, SoRoSim, that integrates the Geometric Variable Strain model to facilitate the modeling, analysis, and simulation of hybrid rigid-soft open-chain robotic systems. The toolbox implements a recursive, two-level nested quadrature scheme to solve the model. We demonstrate several examples and applications to validate the toolbox and explore the toolbox's capabilities to efficiently model a vast range of robotic systems, considering different actuators and external loads, including the fluid-structure interactions. We think that the soft-robotics research community will benefit from the SoRoSim toolbox for a wide variety of applications.
翻译：软体机器人在机器人界已成为一个趋势话题已有近二十年了。 但是,可供该界模拟和分析软体机器人工艺品的工具仍然有限。 本文介绍了一个方便用户的 MATLAB 工具箱 SoRoSim 的开发情况, 该工具箱整合了几何变量 Strain 模型, 以便利混合硬软软软开放链机器人系统的建模、 分析和模拟。 该工具箱实施一个循环、 双层嵌套的二次方位方案来解决模型。 我们展示了几个实例和应用, 以验证工具箱, 并探索工具箱是否有能力高效地模拟广泛的机器人系统, 同时考虑到不同的操作器和外部负荷, 包括流体结构的互动。 我们认为, 软体机器人研究界将受益于 SoRoSim 工具箱, 用于多种应用 。
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