Research On Spherical Module Soft Robot By Imitating The Suppressaria

With the development of science and technology,people begin to explore the unknown areas increasingly.The soft robot can change its own shape volume according to the environment to be compatible with the environment,and it has the advantages of the ordinary rigid robot,so that the research of the soft robot has become very hot in the field of robot research.At present,the research of soft robot is still in the initial stage,most of them can only achieve a simple movement.Based on the above reasons,this paper designs and develops an experimental platform of the spherical robot with multi-motion mode by imitating the suppressaria,and explores the intelligent control strategy of the soft robot.This article has two most difficult technical problems of the soft robot:The first is that it's difficult to establish an accurate robot kinematics and dynamics model——geometric analysis instead of mechanical analysis of the program;The second is too difficult to establish a precise movement of the robot movement control model——a fuzzy PID control algorithm based on visual servo instead of precise control program.The main contents and innovations of this paper are as follows:Firstly,based on the imitation of the ? movement of the suppressaria,a module soft robot is designed,which consists of five reconfigurable soft spherical module units and a pair of deformable soft friction prolegs,and the whole trunk part has no any rigid parts.By controlling the external drive air pump to inflate and deflate the balloons,so that the ball modules expand or contract in turn to achieve the movement with the cooperation of the ball modules and soft friction prolegs.Secondly,based on the Mooney-Rivlin model,the mechanical model of the single spherical module of the robot is established.The relationship between the expansion radius and the pressure,the inflating time and the expansion radius of the single spherical module are derived.Based on the friction binomial formula,the relationship between the contact area of the ground and the friction coefficient of the friction prolegs is proposed.Thirdly,according to the geometric analysis of forward mode,obstacle avoidance and turning mode,the movement models of expansion,contraction,alternate adsorption and detachment of the robot have been established.And then the movement simulation has been carried out through Python to prove the correctness of the model design.Finally,due to the uncertainty of robot movement and difficulty to control precisely,a fuzzy PID control algorithm based on visual servo is proposed for the movement of the soft robot,and also Simulation results show that the control method has a good control effect by MATLAB / Simulink.Experiments show that the soft robot can realize forward mode,obstacle avoidance and other basic movements.