Structural Design Of Worm-like Soft Robot On Omnidirectional Movement

With the development of robots,robots have entered more and more fields.But in some complicated and narrow terrains,traditional robots are too rigid to meet the operational requirements as they are usually made of hard material.So soft robots are getting increasing attention from researchers.The soft robots has high degree of freedom and can be deformed.They has large application prospect in the fields of medical treatment,rescue,and survey.However,soft robots still have many shortcomings in their materials,processing,control,and simulation.The paper is going to study the pneumatic worm-like soft robot.The main research contents and achievements are as follows:A three-chamber structure of a worm-like software robot will be designed.The robot is made of silica gel and fiber.The three-chamber structure enables the robot to move omnidirectionally in space.Applying the materials with small coefficient of friction to the surface of front foots to increase the asymmetric friction of the driver.The research derives the relationship between the bending direction of the model and the air pressure,the relationship between the elongation ratio o f the driver model and the air pressure,and that between the bending angle and the air pressure.The research performs ABAQUS finite element simulation on the driver.The Yeoh model is selected as the constitutive model of the silica gel material of the driver.The research studies the influence to the driver 's elongation and bending performance of four factors: the radius of the fiber ring,the distance of fiber rings,the way of fiber winding,the shape of the air cavity.There are several conclusions.The results show that increasing the radius of the fiber rings can improve the elongation and bending performance of the drive;increasing the distance of the fiber rings will cause gas rise;appropriate air rise can improve the elongation and bending performance of the driver.If the fibrous rings is wrapped around each air chamber,the drivers will get better bending performance.If the fibrous rings is wrapped around the entire air chamber,the driver will get better elongation performance.Comparing the fan-shaped air cavity with the circular air cavity,the study find that the shape of the air cavity has little effect on elongation performance and has a small effect on bending performance.The bending performance of the fan-shaped air cavity is slightly better than that of the circular air cavity.