The purpose of this research is to present an alternative multibody dynamic model for soft robots and to analyze the intrinsic mechanism of motion. It is difficult to directly apply traditional robot modeling methods due to the large structural deformation of soft walking robots. This paper establishes the dynamic modeling of a soft robot system with contact/impact based on the corotational formulation of the special Euclidean group \(SE\)(2). The experiments are designed to verify the dynamic model of the robot. The history of the marked points on the robot prototype is measured in real time by an ARAMIS Adjustable Camera System. Based on the dynamic model, we conducted an in-depth analysis of the entire process through which the robot achieves directional walking utilizing complex friction characteristics. Notably, the robot’s kick-up phenomenon attracted our attention, and an analytical model for predicting the critical drive acceleration is proposed. The conditions and mechanisms of the robot’s kick-up are analyzed, and effective direction is provided for designing new drive laws. Finally, several sets of key parameters affecting the walking efficiency are analyzed using the multibody model, which can provide scientific guidance for the material selection and optimization of the robot. The presented dynamic modeling approach can be freely extended to other soft robots, which will provide valuable references for the design and analysis of soft robots.

本研究的目的是提出一种软体机器人的替代多体动力学模型并分析运动的内在机制。由于软体行走机器人结构变形大，很难直接应用传统的机器人建模方法。本文基于特殊欧氏群\(SE\) (2)的共旋转公式，建立了具有接触/冲击的软体机器人系统的动力学建模。实验旨在验证机器人的动力学模型。机器人原型上标记点的历史记录由 ARAMIS 可调摄像头系统实时测量。基于动力学模型，我们对机器人利用复杂摩擦特性实现定向行走的整个过程进行了深入分析。值得注意的是，机器人的踢起现象引起了我们的注意，并提出了预测临界驱动加速度的分析模型。分析了机器人踢起的条件和机理，为设计新的驱动律提供有效的指导。最后利用多体模型对影响行走效率的几组关键参数进行分析，为机器人的材料选择和优化提供科学指导。所提出的动态建模方法可以自由扩展到其他软体机器人，为软体机器人的设计和分析提供有价值的参考。