Model And Experiment Of Variable Stiffness Soft Manipulator Based On Jamming Structure With Aerodynamic Coupling To A Blocking Mechanism

The soft robot has superior environmental adaptability,sensitivity and flexibility.It can absorb the energy generated by collision,interact with people or the environment,and simulate the continuous movement of biological systems.It can explore complex environments such as military reconnaissance and disaster relief.It has important application value in terms of detection.The current research focus is on improving the compliant performance,but less consideration is given to its realtime rigid-flexibility control,which requires high flexibility during exercise and strong stiffness when performing tasks.Combining the advantages of actively driven pneumatic network structure and passively driven plugging mechanism,this paper designs a software driver with real-time variable stiffness.The superiority and reliability of the design are analyzed by theory and finite element analysis.Finally,the variable stiffness software driver is verified by experiments.Variable stiffness performance and bending properties.The specific content is:Firstly,the action principle of variable stiffness structure and pneumatic drive structure is studied.Based on the existing research work,a variable stiffness software driver coupled with pneumaticblocking mechanism is designed.The variable stiffness software driver adopts a modular design concept and is composed of a plurality of unit modules,each of which is connected in series by a flexible connector.Each unit module consists of three parts: a blockage variable stiffness structure,a pneumatic drive structure and a silicone fiber composite layer.Secondly,using the Hertzian contact model,a mathematical model of variable stiffness structure is established.The formation mechanism of variable stiffness is theoretically studied,and the variable stiffness structure is optimized according to the analysis.At the same time,Abaqus finite element software is used to analyze the aerodynamic drive structure,and the influence of pressure,cavity shape and cavity size on the bending angle is studied,and the design of the aerodynamic drive structure is optimized.Thirdly,the 3D printing and casting technology used in the manufacture of the variable stiffness software driver was studied,and the three parts of the unit module were fabricated and assembled.At the same time,the pneumatic control system and vacuum controller were designed and pneumatically controlled.The system components and principles of the system and vacuum controller are described.Finally,the stiffness test experimental platform is built to test the stiffness of the variable stiffness structure under different conditions,and the stiffness repeatability and stability of the variable stiffness structure of the design are verified to be better than the existing small particle mechanism.At the same time,the bending performance test experimental platform was built to test the bending performance and tensile properties of the pneumatic drive structure,and the performance and stability of the bending and stretching of the pneumatic drive mechanism of the design were verified.