#  Modeling 

 



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As mentioned in [design](/hpn-manipulator/design) section, wall thickness and groove depth in the design of the honeycomb structure can affect the mechanical performance of the manipulator. In this section, we propose two [evaluation](/hpn-manipulator/modeling/evaluation) metrics for assessing the mechanical property of the manipulator, flexibility and load bearing capacity. After that, we use [FEM modeling method](/hpn-manipulator/modeling/fem) to analyze this metric for segments with different thickness and groove depth, which can provide guidance for implementing a real manipulator.

For the whole manipulator, the flexibility is imperative for its front portion of the manipulator while the load bearing capacity is imperative at its base. By comparing the performance of different structures in simulations, we are able to understand the relationship between the performance (**flexibility** and **load bearing capacity**) of the manipulator and design parameters (**wall thickness** and **groove depth**).

Sort ![modeling-plus-1](/sites/g/files/omnuum4601/files/2024-11/modeling-plus-1.png)

 



 ![modeling-plus-2](/sites/g/files/omnuum4601/files/2024-11/modeling-plus-2.png)

 







The variation of flexibility is illustrated in the figure above (left). We find that as the groove depth grows, the flexibility increases, while as the wall thickness grows, the flexibility decreases. Both variations are monotonous.

As shown in the figure on the right, the load bearing capacity increases monotonously as the wall thickness grows. However, the variation of load bearing capacity about the groove depth is not monotonous: it initially increases, and then decreases.

All of this will be detailed in evaluation, FEM simulation process and resulting analysis of the parts.

### Bibliography

Jiang et al. (2016) [Design and Simulation Analysis of a Soft Elastomer Manipulator based on Honeycomb Pneumatic Networks.](/publications/design-and-simulation-analysis-soft-manipulator-based-honeycomb-pneumatic)

Sun et al. (2016) [FLEXIBLE HONEYCOMB PNEUNETS ROBOTS.](/publications/flexible-honeycomb-pneunets-robot)

Jiang et al. (2017) [A Two-Level Approach for Solving the Inverse Kinematics of an Extensible Soft Arm Considering Viscoelastic Behavior.](/publications/two-level-approach-solving-inverse-kinematics-extensible-soft-arm)

Jiang et al. (2016) [Design and Simulation Analysis of a Soft Manipulator Based on Honeycomb Pneumatic Networks.](/publications/design-and-simulation-analysis-soft-manipulator-based-honeycomb-pneumatic)

Giri et al. (2010) [Continuum robots and underactuated grasping](https://softroboticstoolkit.com/publications/continuum-robots-and-underactuated-grasping)

Grissom, et al. (2006) [Design and experimental testing of the OctArm soft robot manipulator](/publications/design-and-experimental-testing-octarm-soft-robot-manipulator).

### Contributors

Hao Jiang

Zhanchi Wang

Xinghua Liu

Xiaotong Chen

Yusong Jin

Hao Sun

Xiaoping Chen



 



 

 See also:- [ Documents ](/page-categories/documents)