#  Create Steps 

 



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In this page, we create two steps, 'Step-1' and 'Step-2' for load simulations. 'Step-1' is created with procedure type of **Static, General**.

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

 

In the next window, turn on **Nlgeom** option in **Basic** panel.

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

 

In **Incrementation** panel, we select type as **Automatic**, set **Maximum number of increments** as 100, and set **Increment size** as 0.0001, 1e-10 and 1 respectively for **Initial**, **Minimum** and **Maximum**.

 ![step-3](/sites/g/files/omnuum4601/files/2024-11/step-3.png)

 

Next, 'Step-2' is created after 'Step-1', also with procedure type of **Static, General**.

 ![step-4](/sites/g/files/omnuum4601/files/2024-11/step-4.png)

 

'Step-2' also needs enabled **Nigeom** in **Basic** panel. In **Incrementation** panel, we select type as **Automatic**, set **Maximum number of increments** as 100, and set **Increment size** as 0.02, 1e-5 and 0.02 respectively for **Initial, Minimum and Maximum**. Notice that the **Maximum increment size** of 0.02 here is set for convenience of the result analysis afterwards.

 ![step-5](/sites/g/files/omnuum4601/files/2024-11/step-5.png)

 

### 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