Magnetic hydrogel soft body leg and foot friction contact finite element method based on COMSOL

By establishing the partial differential stress equilibrium equation of magnetic hydrogel materials on the COMSOL platform and performing grid encryption processing, the problems of slow calculation speed and inaccurate results in the friction contact analysis of leg foot of magnetic hydrogel soft robot are solved, and efficient and accurate friction contact analysis is achieved.

CN120197418APending Publication Date: 2025-06-24NANJING UNIV OF SCI & TECH
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Patent Information

Application Number
CN202510055001.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-01-14
Publication Date
2025-06-24

AI Technical Summary

Technical Problem

The prior art is difficult to accurately predict the friction and contact behavior of the legs of magnetic hydrogel soft robots, and the calculation speed is slow, so the analysis results are not accurate enough.

Method used

Using the finite element method based on COMSOL, the partial differential stress equilibrium equation of magnetic hydrogel materials is established as a constitutive model, grid encryption processing and contact algorithm optimization are carried out, including penalty function method, and in-depth friction contact analysis is carried out.

Benefits of technology

The calculation speed and accuracy of friction contact analysis are significantly improved, providing an efficient and accurate method to solve the friction contact problem of the magnetic hydrogel soft robot.

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Abstract

The invention discloses a finite element method in a magnetic hydrogel soft leg and foot friction contact process based on COMSOL. The method belongs to a practical analysis method in the field of frictional contact dynamics. The method is different from a traditional robot leg and foot multi-rigid-body algorithm, a novel finite element method is adopted for calculating the dynamic response in the friction contact process of legs and feet (such as robot legs and feet) made of magnetic hydrogel soft materials, and the problem that analysis and calculation precision and efficiency are low is solved. The invention provides a finite element method for magnetic hydrogel soft body leg and foot friction contact based on COMSOL. The method comprises the steps that fine design is conducted on a model, and interference check is conducted after design is completed; using a partial differential stress equilibrium equation (PDE) of the magnetic hydrogel material under the condition of magnetic-solid coupling as a constitutive model of the magnetic hydrogel material; carrying out encryption processing on the grid division of the local contact area of the frictional contact, and setting a transition grid; and performing finite element analysis on the frictional contact part of the model by adopting contact algorithms such as a penalty function method. The analysis method has the characteristics of high calculation efficiency and high calculation precision, and can be widely applied to engineering.
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