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Research On Octopus-inspired Soft Anipulator Actuated By Shape Memory Alloy

Posted on:2018-01-11Degree:MasterType:Thesis
Country:ChinaCandidate:L F ZhangFull Text:PDF
GTID:2348330512986715Subject:Instrument Science and Technology
Abstract/Summary:PDF Full Text Request
With the rapid development of robot technology,robot has higher and higher demands in the field of the home service and industrial production.The one of the demands is intelligence and flexibility.Soft robot is an important achievement of robotics innovation in recent years in recent years,smart materials have got very good application in soft robotics,and soft structure can use their deformation to drive,so they can satisfy the intelligent and flexible demand of robot.In this paper,a soft actuator module(SAM)is designed basing on shape memory alloy(SMA)spring and soft structure to be have good bending performances,which present good adaptabilities in the limited working spaces,and it has broad application prospects.This paper briefly introduces the research status of soft robot and the characteristics of soft actuator.Based on shape memory alloy and flexible material,the soft manipulator driven by shape memory alloy is designed.The designed soft manipulator is taking the SAM as a modular unit,a four jointed soft manipulator was assembled modularly.The manufacturing method of soft driving module based on 3D printing and casting technology is discussed,and the kinematic model of soft driving module based on geometric analysis method is established.The characteristic analysis of soft structures based on finite segment method is studied.The stiffness of soft structures is obtained by comparing experimental results with theoretical results.Based on the SMA resistance variation characteristics,the SMA resistance feedback control system is established,and the parametric analysis of the deformation of the soft actuator is carried out.Furthermore,the multi-mode motion control system of soft manipulator is established,and the spatial motion of the soft manipulator is realized,and the flexible space motion ability of the soft manipulator is verified.Finally,the main conclusions of this research work are given,and some follow-up research work is proposed,which provides the idea for the design of better performance soft manipulator based on shape memory alloy(SMA)drive.
Keywords/Search Tags:shape memory alloy, soft manipulator, resistance feedback, finite segment, soft robot
PDF Full Text Request
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