Surface Deformation Analysis And Design Of Soft Robot Based On Computational Conformal Geometry

With the rapid development of computational conformal geometry,it benefits from its ability to deal with complex surface deformation analysis,which gives us inspiration to apply it to the field of surface deformation analysis of soft robot.In view of the nonlinear geometry of the surface deformation of soft robot,which leads to the inaccuracy of measurement and description in the deformation process,based on the calculation of conformal geometry,this paper introduces the Ricci flow theory and the method of calculating the conformal modulus of surface,transforms the problem of surface shape change into the problem of surface Riemannian measurement change,and then establishes a mathematical model to analyze the deformation of soft robot The surface deformation of the robot is described quantitatively.Firstly,the mathematical description method of the surface information of soft robot is studied according to the geometric differentiation of surface.In this paper,the surface deformation process of soft robot is changed from three-dimensional Euclidean geometry deformation to the process of changing the Riemannian metric of the surface itself.This paper introduces the conformal deformation of surface,discrete surface Ricci flow,transformation of Delaunay triangulation,Gauss bonnet theorem,Yamabe equation,differential cosine theorem,Poincare Hopf theorem,establishes the mathematical model and algorithm of discrete Ricci curvature flow,and verifies that the discrete Ricci curvature flow equation converges exponentially to the surface deformation of soft robot.Then,the basic theory of computing conformal geometry is discussed,and the parametric mathematical model of surface conformal is established based on discrete Ricci curvature flow.According to the energy of discrete entropy,conformal factor,discrete Gauss bonnet theorem and circle packing,the matlab program based on discrete Ricci curvature flow is debugged.The 3D model and triangulation processing method of 3D scanning Extraction of soft robot are studied.The 3D model of the deformation surface of the soft robot is collected under different materials and different working pressure.Finally,a set of relatively complete software robot design and preparation process is verified by experiments.The driving principle,structure design,mold design,manufacturing process and experimental platform construction of the curved surface deformation soft robot are introduced in detail.The deformation law of the soft robot is analyzed,and the driving value of the left and right air path driving the soft robot in the experimental process,that is,the working pressure value,is obtained.The point cloud information of surface deformation soft robot at working time.According to a certain deformation time of soft robot,the pressure and elongation are obtained by pressure measurement method,and the influence of material and pressure on elongation is expounded.The more flexible the material is,the greater the working pressure is,and the greater the elongation of the soft robot is.