Flexible deformation in simulation of rigid-flexible hybrid robot arm

[Zhangsyotom]

Hello everyone! I am a new fan of SOFA. The powerful functions of this framework attract me very much.
I am trying to simulate a tendon-driven rigid-flexible hybrid robot arm. I built a model based on the code framework in SoftFingerDesign, a similar case in the SoftRobots plugin, but encountered some strange problems.
The measurement unit in my model is IS unit.
As shown in the attached figure, compared with the case, I added another degree of freedom of rotation in another direction. Using the same soft material parameters and model as the case, the movement results of the soft finger during simulation are different.
In my model, the soft finger is quickly diverged by gravity when DT=0.01. When DT=0.0001, swinging the robot arm joint will make the flexible finger bounce like toilet paper. I tried to adjust the value of Young's modulus to correct it, but the effect was small.
The same action is no problem in the case( SoftFingerDesign ).
What is the cause of this problem?
Thanks in advance.

Best wishes,

Tom

[hugtalbot]

Hi @Zhangsyotom

Thank you very much for your message and sorry for our latency.
I am unsure what you mean with "I added another degree of freedom of rotation in another direction"

Could you please share a simple scene highlighting your issue?
Best

[github-actions[bot]]

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@Zhangsyotom
Feedback has been given to you by the project reviewers, however we have not received a response from you. Without further news in the coming weeks, this discussion will be automatically closed in order to keep this forum clean and fresh 🌱 Thank you for your understanding

[github-actions[bot]]

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@Zhangsyotom
In accordance with our forum management policy, the last reply is more than 4 months old and is therefore closed. Our objective is to keep the forum up to date and offer the best support experience.

Please feel free to reopen it if the topic is still active by providing us with an update. Please feel free to open a new thread at any time - we'll be happy to help where and when we can.