Development And Experimental Verification Of Self-sensing Flexible Manipulator

Flexible manipulator has flexibility,adaptability and safety reliability,has a strong advantage in human-computer interaction,its development is still in its infancy,the future with the development of materials,structures and sensors,will be widely used in industry,medical and rescue and other fields,has a lot of room for development.In automatic picking,most of the irregular and vulnerable objects can only be handled manually,resulting in potential safety hazards.In this paper,a flexible manipulator with self-perception function is designed,the structure of the flexible manipulator is optimized by mathematical modeling and finite element analysis,the flexible manipulator is made by shape deposition manufacturing method,and a motion detection device for the flexible manipulator is designed,and the device is experimentally verified.The main contents of this paper are as follows:Firstly,The action principle of the flexible manipulator is analyzed,the structure of the flexible manipulator is preliminarily explored through mathematical modeling,and the influence of the thickness,height and number of the side wall of the air chamber on the bending performance of the flexible manipulator can be deduced through the established mechanical model.The higher the number of air chambers,the better the bending performance;The higher the height of the air chamber,the better the bending performance.Secondly,Finite element analysis of flexible manipulators.Firstly,the structural static analysis of the flexible manipulator is carried out,and the structural parameters of the flexible manipulator are optimized after the solution results are obtained.Considering that the flexible manipulator is driven by air pressure,in order to better reflect the actual deformation of the flexible manipulator,the transient fluid-structure interaction analysis of the flexible manipulator is carried out,the fluid domain and solid domain of the flexible manipulator are meshed respectively,and then the stress and deformation of the flexible manipulator are analyzed.Thirdly,Based on the optimized model,experiments related to flexible manipulators were produced.Based on the three-dimensional model of the designed mold,the mold was printed by 3D printing,and then the flexible manipulator was made by shape deposition manufacturing.Ecoflex00-30 silica gel is mixed in equal proportions and slowly injected into the mold.Finally,the bending performance verification experiment and the grasping experiment are carried out respectively,which proves that the bending performance of the flexible manipulator conforms to the finite element analysis results,and shows the grasping ability and application value of the flexible manipulator.Finally,The motion detection device of flexible manipulator was fabricated and verified experimentally.The hardware circuit of the motion detection device is designed,the core hardware is mainly MPU9250,and then the accelerometer,gyroscope and magnetometer data are calibrated respectively.The motion detection algorithm of flexible manipulator is studied and analyzed,and the action solving algorithm based on complementary filtering is selected.Then,in order to verify the reliability of the detection device,Kinvea motion capture technology was introduced,and finally an experimental platform was built for experimental verification.