Arm-like Bionic Soft Robot And The Research Of It's Kinematics

With the enlargement of the industrial robots,the robots can apply on more and more field.The traditional robots limited its ability to interact with the environment because of its rigidity.However,software robots has sufficient flexibility,adaptability,redundancy or infinite degrees of freedom,it can change its shape and size to adapt to the environment and the target.Software robots can accomplish many tasks that traditional robot cannot finish,so software robots are an emerging and promising research direction.In recent years,the development of the bionic software robot is quickly,but bionic soft robot just solved the softness in the process of work requirements,and the stiffness of the robot cannot be solved.This article put forward an Arm-like bionic soft robot that can change its stiffness automatically.This article mainly research Arm-like bionic soft robot's structure characteristic,static characteristic,dynamic characteristic and its kinematics model.The main work and achievements are as follows:1.The research of Arm-like bionic soft robot's structure characteristic and the static characteristics.This article designed Arm-like bionic soft robot from the research octopus' s Brachiopods.The static mechanics model of the robot is established and the simulation of the model is analyzed.2.This article put forward Arm-like bionic soft robot bending theory.Analysing the influence of various parameters on the robot bending model;Based on the kinetic theory and thermodynamic theory,Arm-like bionic soft robot inflation and deflated dynamic models are established.Doing the simulation analysis of all the model.3.Builiding the Arm-like bionic soft robot kinematics model.Elaborating the basic theory of kinematics.Defining the the position and posture of the soft robot.Software robots' s positivekinematics model and inverse kinematics model is established.Doing the simulation of the kinematics model.4.Doing the experiments of Arm-like bionic soft robot to research the statics and kinematics model.Building the experimental platform for the Arm-like bionic soft robot.Building the software system to control the Arm-like bionic soft robot.Collecting the data of the experiment.Compared the experimental data and simulated data to verify the correctness of all the model.