Bending Modeling And Experimental Study On A Novel Long-arm Bio-soft Robot

The soft robot is composed of new flexible materials,which has good flexibility,adaptability and super redundant or infinite degree of freedom.It has a wide application prospect in domestic service,disability nursing,and medical rehabilitation.But soft robot still faces many challenges in flexible materials,bionic structure,bending modeling and failure judgment.Therefore,it is of great significance to carry out relevant theoretical and experimental research.This dissertation researched on a novel long-arm bio-soft robot: active bending,external moment bending and bending wrinkling.The main contexts in this dissertation are as follows:(1)Based on the structure of long-arm bio-soft robot,the static model was built and verified by comparing the static model numerical analysis,the sample tensile experiment and the static model experiment.So the static model had practical value.(2)According to the spring model and bending geometric structure,the mapping relationship between the bending geometric parameters and the elongation of the spring was built.Based on static analysis and moment balance,the spring model as the transition and the double mapping relationship as the bridge were taken to establish the direct relationship between the pressure and the bending geometric parameters of the soft robot.A numerical analysis method of active bending model for arbitrary bending direction was proposed.(3)According to the active bending model,the idea of separation and superposition,the external moment bending model was established.Linearized relationship of the cavities pressure,the moment and the spring elongation was formulated.Based on the main causes of the failure,the critical,wrinkling and failure states were defined.The wrinkling model was established on the basis of the inflatable beam structure.According to the structural specificity of the tail section,the warning model of the tail bending position was established.(4)The long-arm bio-soft robot experimental platform was built.Through single-cavity bending,multi-cavity coupling bending and wrinkling experiments,the results were consistent with the theoretical model.The bending and wrinkling model were verified and had validity and accuracy.This dissertation proposed a concise numerical analysis method of the active bending and wrinkling model of pneumatic robot.All research achievements within this dissertation provided a foundation for adaptive control of the long-arm bio-soft robot.