开源工具让磁性软体机器人仿真更易上手，支持实时变形观察。
An Open-Source User-Friendly Interface for Simulating Magnetic Soft Robots using Simulation Open Framework Architecture (SOFA)
- 基于SOFA框架构建可视化界面，可直观设置材料属性与磁场。
- 支持四类典型模型仿真，实现实时变形与应力分析。
- 适合初学者和科研人员快速开展磁性软体机器人设计。
磁性软体机器人需专用仿真工具以准确模拟外部磁场下的形变。现有平台普遍缺乏对磁性材料的支持，且使用门槛高。本文提出一个基于仿真开放框架架构（SOFA）的开源、易用仿真接口，专为磁性软体机器人设计。用户可定义材料属性、施加磁场，并实时观察形变结果。通过集成直观控制与应力分析功能，降低理论建模与实际设计间的鸿沟。四个基准模型——梁结构、三指与四指夹持器、蝴蝶结构——验证了其功能有效性。软件操作简便，适用于不同水平的研究者。未来将通过实验验证与工业级有限元求解器对比，进一步提升模拟精度与预测能力。
原文摘要 · Abstract (English)
Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials, making them difficult to use for researchers at different expertise levels. This work introduces an open-source, user-friendly simulation interface using the Simulation Open Framework Architecture (SOFA), specifically designed to model magnetic soft robots. The tool enables users to define material properties, apply magnetic fields, and observe resulting deformations in real time. By integrating intuitive controls and stress analysis capabilities, it aims to bridge the gap between theoretical modeling and practical design. Four benchmark models -- a beam, three- and four-finger grippers, and a butterfly -- demonstrate its functionality. The software's ease of use makes it accessible to both beginners and advanced researchers. Future improvements will refine accuracy through experimental validation and comparison with industry-standard finite element solvers, ensuring realistic and predictive simulations of magnetic soft robots.
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