Design And Experimental Study Of Soft Manipulator Teleoperation System

When pneumatic soft robots work in complex and unstructured remote environments,lack of information feedback,inconvenience of gas source and other factors will lead to the reduction of working ability and limited application scope of soft robots.Aiming at the remote and reliable control of terminal soft manipulator,flexible sensor,virtual reality and Internet of Things are introduced into the remote closed-loop control of terminal soft manipulator.In this paper,systematic research is carried out in the aspects of configuration design of the self-sensing soft actuator,mechanical model analysis of soft actuator,prototype manufacturing process,control system design,virtual scene design,teleoperation system experiment and so on.Firstly,the overall structure of the soft manipulator teleoperation system is designed,and it is divided into local system and remote system.The main components of the teleoperation system are determined.The different control schemes of the system are analyzed,and the software platform and operating environment required for the teleoperation system are selected.Secondly,based on the concept of "Fast Pneumatic Network",a innovative configuration of the proprioceptive soft actuator is designed in order to improve the air tightness,reliability and the ability to disassemble repeatedly.The constitutive model and related parameters of silicone rubber are deduced,the actuator is analyzed by non-linear finite element method,and the approximate working pressure range of the soft actuator is predicted.Thirdly,based on the idea of “Shape Deposition Manufacturing”,the casting die of the soft actuator is designed to improve the reliability and simplify the process steps.The multi-step forming process of the soft actuator is proposed,and the proprioceptive soft manipulator prototype is made by combining the 3D printing technology.And the hardware of its integrated drive and control system is built.In order to realize remote information transmission,a UI based on serial port and MQTT Internet of Things communication protocol is built on the local PC.Finally,a design method of skinned mesh model is built for soft actuator in the3 Dmax,and the virtual work scene is built in Unity3 D.The script components are added to the virtual soft robot and the target object.The motion control of the soft robot and the collision detection of the target object are realized through the design of the script program.A test platform for the teleoperation system of soft robots is built to complete the experimental study of teleoperation gesture mapping and object remote control grasping,and the experimental results are analyzed and evaluated.At last,the effectiveness of the soft robot teleoperation system based on virtual reality technology is validated.