Optimization Design And Gripping Performance Of Software Driver Based On Core Embedding Process

As an important research direction in the field of soft robotics,soft drives have also received widespread attention from all walks of life in recent years.Because of its rich configuration,good adaptability and high flexibility,the software driver can use different software configurations for different grasping scenarios to achieve the best grasping effect,and is widely used in the grasping work of fragile and deformable items.Taking pneumatic soft drive as the research object,this Paper aims to propose a new type of pneumatic soft drive,and to study its flexible materials,structural design,mathematical model,deformation characteristics,production process,control scheme and prototype experiment.The main research contents and achievements of this Paper are as follows:Firstly,a two-component plus molded room-temperature vulcanized silica gel with a hardness of 30 A was selected as the elastic matrix manufacturing material for the core soft drive,and TPU-nylon composite material was selected as the manufacturing material for the reinforced airbag,and the material Parameters of the constitutive model of the silica gel material were determined based on the uniaxial tensile experiment,and the constitutive model used to describe the mechanical properties of the superelastic material was selected according to this analysis.Secondly,the structure design of the embedded software driver was completed,and the multi-objective structure optimization work was completed based on the optimization goal of "achieving light weight and large load as much as possible under the premise of achieving stable grasping",and the optimal structure size of the driver was obtained by the response surface method based on the optimization of the Latin hypercube experimental design.The finite element simulation of the free bending process,restricted bending process and contact process of ordinary software driver and core software driver confirms that the designed core software driver has significantly improved load ca Pacity and deformation resistance.Thirdly,based on the theory of segmented constant curvature,the mathematical model of the bending angle of the single air chamber of the embedded soft drive is constructed by using the principle of virtual work and the constitutive model of the superelastic material,so as to obtain the overall bending angle of the soft driver and the influence of the structural Parameters of the air bag and its corresponding input pressure,and finally under the condition of friction cone limitation,the force helix balance is used to realize the contact force planning analysis of the end grabbing of the drive.Finally,a complete pneumatic control system was built,a step-by-step casting method for making soft drives based on shape deposition technology was proposed,physical production was completed and an experimental platform was built,bending deformation experiments and contact force experiments of soft drives were carried out,the effectiveness of the finite element simulation model and mathematical model of the soft driver and the improvement of the gripping performance of the core software driver were verified,the core embedded software manipulator was made,and the grasping experiment of multi-target objects was carried out.It is verified that the designed core embedded software manipulator has good practicability and adaptability.In this Paper,based on the manufacturing method of the embedded technology soft driver,the structure stiffness and holding performance of the manufactured soft driver are significantly improved com Pared with that of the ordinary soft driver.The maximum allowable pressure of the actuator is increased by 273%,and the load ca Pacity is increased by 278%,which provides a new idea and method for the actuator to realize large load.