Research On Design And Control System Of A Flexible Pneumatic Manipulator

Since the invention of robots,scholars have been conducting research and design on different types of robotic arms.The continuous advancement of material science and manufacturing technology has provided the basis for various forms of robotic arms research.As the working environment and object types faced by robots become more and more complex,higher requirements are put forward for the environmental adaptability of the robot arm.Traditional industrial manipulators have relatively large rigidity,insufficient flexibility,relatively simple motion forms,and poor coordination and interaction with the external environment.They are likely to interfere with other objects and cause damage in a complex working environment,and their safety performance cannot be guaranteed.A pneumatic flexible manipulator with multiple motion modes is designed in this article.The main body of the manipulator is composed of a pneumatic arm and soft fingers.The pneumatic arm has three motion modes of extension,contraction and bending.The soft finger can achieve unidirectional bending.It mainly introduces the working principle and manufacturing process of the manipulator.Based on the assumption of continuous bending of the ideal arc,the relationship between the length of the flexible driver and the state parameters of the end of the manipulator is derived,and the working space of the manipulator is solved.Simplify the elastic properties of flexible components and perform static analysis on the pneumatic arm of the manipulator.Treat the pneumatic arm as a continuous robot for dynamic analysis.The flexible pneumatic deployable manipulator is simulated based on Abaqus software.Explore the relationship between the pressure and the bending angle of the soft finger and the relationship between the pressure and the length of a single flexible driver,and simulate the three working states of the robotic arm.A pneumatic circuit is designed to conduct experiments on the flexible pneumatic manipulator.Two aspects are mainly tested.One is the movement posture of the pneumatic arm under different air pressures,and the other is the gripping performance of the soft finger.The pneumatic arm is used to grab objects of different stiffness,different shapes,and deformable to verify the effectiveness and practicability of the prototype.