A Digital Twin of the Soft Robot with a Pneumatic Muscle Actuator

This paper is devoted to a create a digital twin for a robot equipped with pneumatic actuators. Implementing a digital twin in this context holds great promise, as it enhances controllability, an essential feature for modern pneumatic robots. The proposed technology for creating a digital twin of a soft robot with pneumatic muscles has numerous applications, including cellular production, where it can optimize the work environment and reduce the required space. The comparison between a digital twin of a pneumatic robot and its physical counterpart is discussed. The simulation results showed that the digital twin and the physical robot are nearly identical, with a maximum relative error of no more than 10%. Overall, the statement suggests that the study successfully demonstrated the effectiveness of using digital twin technology to model and simulate the behavior of a physical object. The results indicate that the digital twin technology used in the study can potentially be a valuable tool in soft robotics and cell manufacturing.