Rapid Analysis of Mechanisms Incorporating Compliant and Soft Links in MATLAB Simscape

Compliant mechanisms and soft robots gain their mobility through the deformation of their flexible members rather than joints connecting neighboring links as we see in traditionally designed rigid systems. They offer numerous advantages due to their inherent properties such as no need for assembly since they can be manufactured as a single piece using simple production methods, high performance with no friction loss, and no need for lubrication. However, the derivation of the mathematical model of mechanisms and robots incorporating compliant and soft links is much more challenging if the design complexity increases. This study presents the rapid analysis of compliant joints, compliant mechanisms, and a soft link using MATLAB Simscape. The example systems are 3D printed and tested using electromagnets to enable contactless force application. The simulation responses are validated using the theory such as Elliptica Theory and pseudo rigid body modeling and experimental data.