Research On Continuous Soft Manipulator Driven By Pneumatic Artificial Muscle

In recent years,soft robots have gradually become a new research hotspot in the field of robotics due to their advantages of high degrees of freedom,flexible operation,and agile movement.The soft robotic arm is a typical continuous soft robot made of flexible materials,which can play a huge role in grasping,exploration,rescue,medical treatment,and other aspects.Its biomimetic principle comes from the tissues or organs of natural organisms such as elephant trunks,earthworms,octopus tentacles,and other soft organisms.However,most current soft robotic arms cannot meet the performance requirements of large deformation,low drive,and high load.Therefore,it is necessary to design a new type of soft robotic arm structure.In order to solve the problems existing in the existing soft manipulator,this thesis designs and manufactures a pneumatic soft manipulator based on bellows structure.The main research work of this article is as follows:Firstly,through the research at home and abroad,combined with the requirements of high safety of the software manipulator in the working process,it is determined that the driving mode of the software manipulator is pneumatic driving,and a software manipulator based on bellows structure is proposed to achieve the goals of large expansion ratio,high bending capacity and high load.At the same time,a set of suitable processing technology is explored.Secondly,the forward and inverse kinematics of a single joint of the soft manipulator is simplified,and the kinematics model of the single-stage soft actuator is established by using the theory of space geometry,and the required air pressure inside the bellows actuator is calculated when the single-stage soft actuator reaches the target position.Subsequently,the Yeoh model parameters of TPU material are determined by uniaxial tensile test,and the motion performance of single-stage software driver is simulated and analyzed by simulation software.On this basis,the influence of different structural parameters of bellows actuator on its motion performance is analyzed by control variable method.Finally,the prototype of the soft manipulator is made,and the experimental platform of the soft manipulator is built,and the expansion ratio and bending deformation ability of the single joint and the whole soft manipulator are tested.Then,the end load capacity of the soft manipulator is studied experimentally.The experimental results show that under a pressure of-30 kPa-60 kPa,the flexible robotic arm designed in this thesis can achieve a telescopic ratio of 3.9:1,and the end can grasp an object with a mass of 1000 g.It has a good working space and meets the expected design goals.