Modeling Simulation And Experimental Research Of Fiber Reinforced Modular Soft Robot

Soft robot is a discipline that has emerged in recent years.Its own flexibility and safety have a wide range of applications in the fields of industry,agriculture,military and medical.At present,soft robots are made of flexible materials,which can deform themselves to achieve stretching,twisting,bending and other movements.However,the currently developed soft robots have the problems of low bearing capacity,single motion form,and difficult mathematical modeling and simulation analysisAiming at the problem of low load carrying capacity of soft robots,this paper designs and manufactures fiber-reinforced single-cavity and three-cavity soft actuators based on the fiber reinforcement method of soft actuators,and established related mathematical models and simulation analysis.Aiming at the problem of a single form of soft robot motion,based on the modular design principle,a modular soft robot is designed and manufactured through a serial or parallel connection method,and related experimental research was conducted...The specific research contents of this paper are as follows:(1)Aiming at the problem of low load carrying capacity of soft robots,based on the theoretical research of fiber reinforced methods,a fiber reinforced single-cavity soft actuator was designed to enhance the stiffness of the soft actuator and achieve unidirectional bending,twisting or stretching motion.At the same time,a three-cavity fiber-reinforced soft actuator is designed based on a single-cavity fiber-reinforced soft actuator,which can realize omnidirectional bending and axial stretching motion(2)A mathematical model is established for fiber-reinforced soft actuators.Based on the research and analysis of super-elastomer materials,a constitutive model of the materials is established.Based on the motion characteristics of fiber-reinforced single-cavity soft actuator,a mathematical model of radial constraint was established.Based on the motion characteristics of fiber-reinforced three-cavity soft actuators,a mathematical model of flexural expansion was established.Based on the idea of piecewise constant curvature,the kinematics analysis of the fiber reinforced three-cavity soft actuator is performed.Finally,based on Lagrangian dynamics,the general dynamics equations of fiber-reinforced three-cavity soft actuators are derived,and a dynamic model is established.(3)For fiber-reinforced soft actuators,simulation analysis of fluid-structure interaction is established.Based on the super-elastomer material,the material parameters were set using the Ogden material constitutive model for simulation analysis.Aiming at the bending and stretching motions of the fiber-reinforced three-cavity soft actuator,by comparing the fiber parameters,the changes in the bending angle and tensile displacement of the soft actuator under different pressures are obtained.According to the results of simulation experiments,it is concluded that the fiber reinforcement method can enhance the stiffness and bearing capacity of soft actuators.(4)Aiming at the problem of a single form of motion for a soft robot,based on the modular design principle,fiber-reinforced single-chamber soft actuators,fiber-reinforced three-chamber actuators,and end-effectors.Soft actuators are designed and manufactured with a variety of modular soft robots in series or parallel.Based on the pneumatic driving method of the soft robot,a pneumatic control system platform is designed and built.Finally,the experimental research on the designed two-module soft gripper,three-module soft manipulator,four-module like-four-foot soft robot and five-module like-human-hand soft robot was conducted to verify the wide application of modular soft robot.