Preprint Open access
Cosserat Modeling of Trimmed Helicoid Soft Arms with a Separated-Section Constitutive Law
Cosserat rod models for soft robots usually construct sectional stiffness by summing material properties over a common cross-section. This assumption becomes inaccurate for trimmed helicoid arms, where load-bearing helix domains are separated and connected only through sparse fused crossings. This paper formulates a se …