Design And Experimental Research Of Soft Robot Based On 3D Printing Technology

Soft robot is an emerging hot spot and development frontier of today's robot technology.Various types of soft robots have been developed and applied in many fields with the development of robot technology.Soft crawling robot is one of the main research directions of soft robot.It can simulate the movement of soft organisms in nature to achieve the crawling movement.It can transform itself through a small space and has the advantages and uniqueness that other forms of soft robot do not have.However,most of the soft crawling robots developed at present have the problems of backward manufacturing technology,simple driving structure,single movement mode and poor environmental adaptability.Therefore,it is necessary to study and analyze the manufacturing method,driving structure and movement mode of the soft crawling robot.In this paper,aiming at the problem of backward manufacturing technology of the soft crawling robot,a flexible wire 3D printing platform capable of printing soft robot body was studied and built based on the traditional fused deposition type(FDM)3D printing platform.A silicone material 3D printing platform capable of printing the soft robot body and actuators was established based on the direct ink writing type(DIW)3D printing platform.Aiming at the problem of simple driving structure and single movement mode of the soft crawling robot,a multi-actuator soft robot was designed and manufactured.Aiming at the problem of poor environmental adaptability of the soft crawling robot,a multi-mode soft robot was designed and manufactured.At the same time,the relevant mathematical models of two kinds of the pneumatic soft crawling robot were established,and the driving structure of the soft robot was simulated with Abaqus software.Finally,the relevant crawling movement experiments are designed to verify the feasibility of the structure design and control scheme of the soft crawling robot.The specific research contents of this paper are as follows:(1)Aiming at the problem of backward manufacturing technology of soft crawling robot,based on the FDM 3D printing platform,a flexible wire 3D printing platform capable of printing soft robot body was designed and built by studying the material characteristics and printing process parameters of flexible wire.Based on DIW type 3D printing platform,the 3D printing platform of silica gel material capable of printing the soft robot body and actuators was designed and built by studying the forming principle of silica gel series.Finally,the feasibility of the 3D printing platform was verified by the 3D printing experiments of the two soft material 3D printing platforms.(2)Aiming at the problem of simple driving structure and single movement mode of the soft crawling robot,by referring to the physiological structure and movement form of the young tiger beetle in nature,a multi-actuator soft robot imitating young tiger beetle was designed and manufactured.The soft robot is driven by air pressure and has a variety of motion modes,which can well simulate the crawling,turning and occlusion movement of the young tiger beetle.Aiming at the problem of poor adaptability of soft crawling robot in environment,a multi-mode soft robot was designed and manufactured.The soft robot has a variety of motion modes,and can self-adaptively complete crawling,crossing and climbing in a complex environment,with good environmental adaptability.(3)Based on the motion characteristics and mechanical characteristics of the soft robot,the Yeoh model was used to describe the nonlinear mechanical behavior of the soft actuator under stress and deformation,and the bending expansion model of the multi-balloon soft actuator was established.And based on the force analysis results of the soft actuator,the radial constraint model of the fiber-reinforced soft actuator was established,which established the foundation for the dynamics and kinematics modeling of soft robot.Based on the mechanical characteristics of the soft actuator,the gas-solid coupling simulation analysis of the multi-balloon soft actuator and the fiber-reinforced soft actuator was carried out by using Abaqus simulation soffware,and the bending characteristics of the soft actuator under different air pressure were studied and analyzed,which provides theoretical support for the further optimization of the driving structure of the soft robot and the crawling movement experiment of the soft robot.(4)A general pneumatic control platform was designed and constructed based on the motion mode and pneumatic control strategy of the soft robot.And based on the pneumatic control platform,the experiment of multi-actuator soft robot capturing the small red fruit was designed.The experiment verified the rationality of the structure design of multi-actuator soft robot and the feasibility of the motion control scheme.At the same time,the closed-loop control system of the multi-mode soft robot was studied and designed based on the pneumatic control platform,and the crawling experiment of the soft robot was carried out in the complex environment.The experiment verifies the adaptability of the multi-mode soft robot in the complex environment.