Untethered High-Load Soft Grasping Robots Based On Bioinspired Enclosed Grasping Mechanism

Insufficient load capacity is one of the biggest problems that limit the application of soft grasping robot,and they have been in the tethered age for a long time,which hinders their application in major fields.These problems are also the common difficulties of the whole soft robot field.Focusing on the high load and untethered theoretical and technical challenges of soft grasping robots,the design method of soft grasping structure based on bioinspired enclosed mechanism and their untethered technology are proposed to create high-performance soft grasping robots with good flexibility,high safety,strong adaptability,excellent flexibility and good economy.This work provides new ideas and new methods for the common problems of large load and untethered soft structure,and promotes the development and application process of rigid-flexible-soft robots.The main research contents are as follows:(1)Aiming at the basic situation that it is difficult to innovate the design method and create the typical configuration of the high load soft grasping structure,a new concept of enclosed soft grasping structure is proposed to meet the stable load-bearing law of soft material.Through the general survey of grasping behavior in animal kingdom,the behaviors of predation,parasitism,movement and construction are comprehensively analyzed,and then the bioinspired model library with grasping effect is synthesized,and the quantitative optimization was carried out based on the extension analytic hierarchy process.(2)Based on the bioinspired winding model,a method for creating a soft grasping robot with a enclosed structure is proposed,and a bioinspired winding robot with the advantages of large load and flexibility is developed.Aiming at the basic characteristics of large load soft grasping structure,such as strong nonlinear coupling,weak deformation regularity and poor feature consistency,In this paper,a kinematic/mechanical behavior analysis method based on deformation guidance and feature unit extraction strategy is built.For unstructured environment and non-cooperative target operation,the contact force sensing function is integrated based on the flexible force sensing technology,which ensures high reliability soft grasp and high adaptability soft interaction from the compliance,large load,force sensing and other technical aspects.(3)Based on the bioinspired swallowing model,an enclosed soft grasping robot with axial contraction is proposed,which realizes the flexible and stable grasping of flexible,sharp,fine,narrow and hot objects.In this paper,a fusion method of axial contraction and radial contraction enclosed soft grasping structure is proposed,increasing the load force of the bioinspired swallowing robot.Aiming at the basic situation of complex deformation,poor consistency of motion law and difficult to unify theoretical model,we propose a kinematic/mechanical behavior analysis method based on deformation guidance and target feature classification extraction strategy.Aiming at the basic situation of soft robot’s weak ability to work in extreme environment,an extreme performance optimization method based on special compliant medium is proposed to realize the high temperature resistance,damage resistance and extrusion resistance of the bioinspired swallowing robot.(4)Aiming at the challenge of high load-to-weight ratio untethered soft grasping robot with high load,we propose a method of creating untethered soft grasping robot based on efficient bioinspired winding structure.An untethered soft winding robot with high payload-to-weight ratio is developed to achieve large workspace operation and reach the leading level of untethered soft grasping robots in payload-to-weight ratio.Also,based on the fusion design of rigid actuator and compliant structure,an untethered soft swallowing robot with high payload-to-weight ratio is developed.The research results provide a theoretical and technical reference for the development of high-performance untethered soft grasping robots.(5)Aiming at the common problems of large-scale,high efficiency and omni-directional heavy load of enclosed soft grip robots,this paper proposes a targeted solution based on rigid-flexible coupling design strategy.In this work,a large diameter soft winding robot with omni-directional heavy load is developed,which realizes the grasping operation of human body.Also,the rigid-soft coupling swallowing structure based on the circular paddle structure realizes the efficient continuous artificial swallowing,improves the swallowing efficiency,increases the success rate of swallowing,and realizes the capture of many kinds of underwater animals.(6)Aiming at the basic situation that the load force of multi fingered soft grasping robot is difficult to break through,based on the mechanism of bioinspired enclosed grasping structure,a method of creating a lockable soft grasping robot is proposed.The mechanism model of multi finger enclosed grasping is constructed,and the analytical method of mechanical behavior of the lockable soft grasping robot is formed.The research results provide a new idea and method for the enclosed design of open soft grasping structures.