Research On Bionic Robot Inspired By Mimicry Capability Of Mimic Octopus

In recent years,with the development of science and technology,rigid robots have limited application in many occasions because of their disadvantages such as low degree of freedom and excessive weight.Inspired by the body structure of mollusks in the natural world,researchers have developed bionic soft-body robots that resemble molluscs in appearance and that use the latest flexible materials as much as possible in their production,and thus have great natural advantages,such as joints.With flexible and overall lighter quality,robot robots are bound to be greatly applied today as robot requirements become higher and higher.Therefore,it is of great significance to study software robots.The main content of this article is as follows:(1)The research background and significance of the software robot are introduced.The unique characteristics of the robot and its research status at home and abroad are described.Compared with the rigid robot,the advantage of the octopus arm was obtained.The physiology structure of the octopus arm was analyzed.Finally,the status quo of modeling,driving and imitating learning of the octopus robot is introduced,and the control method based on the octopus nervous system is given,which paves the way for the following chapters.(2)The kinematics and dynamics of the bionic flexible arm were analyzed.Firstly,according to the physiology structure of the octopus arm,a method of segmenting the bionic flexible arm is proposed,and the cable drive is combined with the bionic flexible arm.Secondly,the driving space,configuration space and task space are established.Based on the relationship between the three,a bionic kinematics model of the flexible arm is established,and the bionic flexible arm is analyzed for motion space.In addition,according to the Cosserat beam theory,the cable is a Cosserat beam composed of a myriad of rigid particles with displacement and rotational degrees of freedom.It can be used to simulate the motion of an octopus arm and analyze its force to establish a bionic flexible arm dynamics.model.(3)Dynamic Simulation of 3D Model of Bionic Flexible Arms.This section considers the problems of high degree of freedom of bionic flexible arms,special composition materials and dynamic modeling,and uses physical model modeling methods to simulate and simulate 3D flexible arms.Solidworks 3D modeling isconvenient and easy to operate.In the material library,the software material corresponding to the bionic flexible arm can be selected for actual analysis.Therefore,Solidworks and Matlab are used to establish a 3D model of the bionic flexible arm for dynamic analysis.(4)Matlab implements biological form imitation learning.Through processing the figure of biological sea snakes to obtain the necessary teaching form,data,using the Gauss mixture model(GMM)based on the imitation of the obtained form learning imitation learning method,finally using the bionic flexible manipulator to realize the snake shape imitation simulation.