Research And Design Of Multi Monomer Execution System For Omnidirectional,Soft-bodied,Peristaltic Sorting Platform

The omnidirectional soft-bodied peristaltic sorting platform is a new kind of software platform that can realize dynamic sorting and balancing handling of many kinds of objects on the platform at the same time.In view of the defects of low performance,poor stability and low processing efficiency of the omnidirectional peristaltic platform soft actuators designed by our research group,this paper optimizes the structure and forming scheme of the soft actuators,improves the control scheme of the system and designs the multi single execution system of the omnidirectional creeping sorting platform.The balance movement of objects on the platform is realized,which lays the foundation for the balanced transportation and dynamic sorting of goods on the platform in the later stage.Firstly,the overall implementation scheme of multi monomer execution system is designed.The object of the study and the motion mode of the object are analyzed,and the composition of the system,the structure of the soft actuators,the pneumatic system and the overall scheme of the control system are introduced.Secondly,the material characteristics and deformation characteristics of the multi chamber composite soft actuators are analyzed.The material characteristics of the soft actuators are analyzed,the Yeoh model of silica gel is established,and the material coefficient is determined and solved.After that,verifying the material properties through the experiment.The finite element analysis model of the soft actuators is established and the validity of it is verified by experiments.Based on the model above,the influence of the cross section of the soft actuators,the number of the primary chamber,the number of working gas channel and the thickness of the outer wall on the deformation characteristics of the soft actuators are further analyzed.Thirdly,the deformation mathematical model and molding method of the multi chamber composite soft actuators are presented.A mathematical model of soft actuators based on moment balance theory is established,and the relationship between driving pressure and bending angle is analyzed.According to the characteristics of the vulcanization of silica gel materials at normal temperature,a multi module combination forming scheme of soft actuators is designed.The correctness of the proposed model is verified by comparison with the previous models and methods presented by research group.Fourthly,the control system of multi-monomer execution system for omnidirectional,soft-bodied,peristaltic sorting platform is improved which mainly includes high-speed on-off valve control module based on PWM,soft actuators deformation control module based on pressure sensor and so on.Then,the software control process of all modules of the omnidirectional peristaltic sorting platform is designed in detail.Finally,the correctness of the design scheme of the above multi monomer execution system is verified by experiments.(1)The soft actuators are manufactured to verify the mathematical model of soft actuaturs based on moment balance theory.(2)The physical prototype is assembled to test the multi monomer execution system for omnidirectional,soft-bodied,peristaltic sorting platform.The experimental results show that the multi-monomer execution system for omnidirectional,soft-bodied,peristaltic sorting platform can achieve the expected motion,which proves the feasibility and effectiveness of the scheme proposed in this paper.