Abstract:A kind of kinematics and dynamics simulation technology for cavity-type pneumatic soft arm grasping in the space environment is studied. Coppeliasim and python are used to jointly simulate through API interface. In CoppeliaSim, the software arm is equivalent to several articulated rigid body supports, and the kinematics and dynamics models of the software arm and the object are established. The models of the software arm's aerodynamic system, cavity characteristics, joint motion, mechanical characteristics and control system are established in the Python. The real-time working state and dynamic interaction process of the soft arm grasping the target in space environment are simulated. The results show that the simulation curve is basically consistent with the experiment, which verifies the correctness of the simulation and provides a new idea for the design and simulation of the software arm.