The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics assumes Piecewise Constant Curvature (PCC). However, PCC fails to effectively handle external forces, or even the influence of gravity, since the robot does not deform with a constant curvature under these conditions. In this paper, we establish three-dimensional (3D) modeling of a multi-segment soft robotic arm under the less restrictive assumption that each segment of the arm is deformed on a plane without twisting. We devise a kinematic and dynamical model for the soft arm by deriving equivalence to a serial universal joint robot. Numerous experiments on the real robot platform along with simulations attest to the modeling accuracy of our approach in 3D motion with load. The maximum position/rotation error of the proposed model is verified 6.7x/4.6x lower than the PCC model considering gravity and external forces.

High-temperature reduction pretreatment (HTRP) is a process that can significantly improve the core quality of a billet. The existing flow stress data cannot meet the needs of simulation due to lack of high temperature data. To obtain the hot forming process parameters for the high-temperature reduction pretreatment process of 42CrMo steel, a hot compression experiment of 42CrMo steel was conducted on Gleeble-3500 thermal-mechanical at 1200–1350 °C with the rates of deformation 0.001–10 s−1 and the deformation of 60%, and its deformation behavior at elevated temperature was studied. In this study, the effects of flow stress temperature and strain rate on austenite grain were investigated. Moreover, two typical constitutive models were employed to describe the flow stress, namely the Arrhenius constitutive model of strain compensation and back propagation artificial neural network (BP ANN) model. The performance evaluation shows that BP ANN model has high accuracy and stability to predict the curve. The thermal processing maps under strains of 0.1, 0.2, 0.3, and 0.4 were established. Based on the analysis of the thermal processing map, the optimal high reduction process parameter range of 42CrMo is obtained: the temperature range is 1250–1350 °C, and the strain rate range is 0.01–1 s−1.

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The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints, to design two closed-loop controllers: a configuration space controller for trajectory tracking and a task space controller for position control of the end effector. Extensive experiments and simulations on a four-segment soft arm attest to substantial improvement in terms of: a) superior tracking accuracy of the configuration space controller and b) reduced settling time and steady-state error of the task space controller. The task space controller is also verified to be effective in the presence of interactions between the soft arm and the environment.