Kinematic Modeling And Trajectory Planning Of Pneumatic Bionic Elephant Trunk Soft Manipulator

After a long period of development in robotics,both its concept and form have been very different from the past.Modern applications of robots have been extended to a variety of situations and environments,such as field environment exploration,space environment capture,and wearable auxiliary medical devices.These complex scenes have very high requirements for robot flexibility,flexibility,shock and vibration resistance,and traditional rigid robots are no longer applicable.Therefore,the concept of a new type of soft robot based on its own material deformation has been proposed,but the development is not mature enough,and there are still challenges in establishing theoretical modeling and control models.Based on the principle of elephant trunk release,this paper designs and manufactures a cone-shaped pneumatic soft manipulator arm that fits the natural world more closely according to the distribution law of elephant trunk muscles.Based on the Isight environment integrated ansys,python,etc.,the joint simulation is carried out to optimize the structure size of the manipulator with stiffness as the optimization goal.The method of fitting the stiffness matrix of the pneumatic actuator based on the least square method is given,and the stiffness matrix with respect to the air pressure function is fitted based on the Isight.Based on and improved the PCC method,the general form of the variable curvature motion model of the soft manipulator is established.On this basis,the velocity kinematics is derived and the Jacobian matrix analytical algorithm is given,the singularity is regularized,and the functional expression form of inverse kinematics is derived.Based on the motion model,the end trajectory of the manipulator is planned to complete the following motion of any path in the air in the end task space.A double closed-loop control model was established based on the theoretical model.The inner loop PID control real-time control of the pneumatic muscle elongation length,and the outer loop real-time trajectory planning of the robotic arm task space based on the IK algorithm.Finally,a double closed-loop control model is established to verify the actual control experiment of the prototype model.Set up an experimental platform,use C++to write the upper computer control program to communicate with the lower computer 9-channel analog quantity acquisition card and 9-channel relay to realize the real-time reading of sensor data and the control of the solenoid valve to complete the drive control of the pneumatic muscles.Equipped with a motion capture system,using 4 infrared cameras distributed in all directions,infrared markers are installed on the upper surface of the end of the robotic arm and the position of the middle torso.Carry out control experiments,read the actual position and attitude angle of the end of the robotic arm,and the position parameters of the torso mark point through the motion capture system,calculate and theoretical errors,and analyze the errors.Verify the correctness of the motion model and trajectory planning.