3D Shape Detection And Trajectory Planning For Pneumatic Soft Manipulator

Pneumatic soft manipulator is a kind of air pressure driven soft manipulator based on bionics principle,which is composed of flexible materials.It has the advantages of high flexibility,strong adaptability to achieve flexible capture,which makes it have a broad application prospect in production,medical treatmaent,disaster relief and detection.Accurate three-dimensional shape information and motion trajectory planning is the premise of high-precision control for the soft manipulator.Under this research background,this paper studies the three-dimensional shape detection system and trajectory planning method for the pneumatic soft manipulator.The main research contents include:Firstly,the experimental platform of the soft manipulator based on the extended pneumatic muscle actuator is designed and built.According to the bionic concept of water skeleton in octopus tentacles,the elongated pneumatic muscle actuator is developed,and the structural parameters of the pneumatic muscle actuator are determined according to the driving mode and the demand of the project;the pneumatic muscle actuator is taken as the component unit,and the optimal spatial structure is adopted to configure the overall layout of the soft manipulator.Based on Yeoh model,the finite element analysis of the designed soft manipulator is carried out to simulate the bending process of the arm.On this basis,in order to meet the speed and stability of the movement process of the soft manipulator driven by air pressure,the working principles of the pneumatic platform and the electronic control platform are analyzed,the system composition and component selection are determined,and the design and construction of the whole experimental platform are finally completed.The normal operation of the experimental platform can be ensured through debugging.Then,a three-dimensional shape detection system based on the length information of pneumatic muscle actuator is designed.Under the assumption of piecewise constant curvature,the kinematics equations of single segment and multi segment soft manipulator are established respectively,and the shape detection method based on length information is proposed,and the singular value avoidance is further realized based on Taylor series expansion.According to the above detection principle,the physical shape detection system design is carried out,the distribution of sensor network is determined,the system construction and component selection are completed,and the upper computer software interface is developed.Finally,through the MATLAB program design,the numerical simulation and physical experiments are carried out in the case of single segment and multi segment manipulator.Finally,the trajectory planning method of the soft manipulator with multiple constraints is studied.In this paper,a path planning method based on geometric parameters is proposed for the inverse kinematics model of single segment soft manipulator;then,a path planning method based on quintic polynomial interpolation is proposed for single path point and multi-path point respectively;a path planning method based on the optimal solution of multi segment inverse kinematics model is proposed for multi segment soft manipulator,and the end rail is realized Trace.