| In view of the shortcomings of rigid robots in terms of multiple degrees of freedom,softness and safety,domestic and foreign scholars have designed and produced bionic soft robots to make up for this deficiency based on the movement mechanism of natural mollusks.This paper mainly analyzes and discusses the material properties,structural analysis and drive control of the soft robot body,which is of great significance for the theoretical and experimental research on soft robots.This paper designed a variety of modular soft robots.Firstly,according to the principle of soft robot driving,the pneumatic driving mode is selected.According to the deformation principle,a three-cavity soft body actuator based on pneumatic driving is designed,and combined with 3D printing technology,the mold required for curing the actuator body is printed.The actuator body is cured by a designed curing process.Secondly,the ABAQUS finite element analysis method and the Ogden model are used to simulate the structure of the soft actuator.The deformation characteristics of the soft actuator are studied,and the strain and stress relationship of the soft actuator are obtained.The analysis affects the bending deformation,force and axial direction of the actuator.The elongation factor is verified by experiments and the soft actuator is proven to meet the design requirements.Then,according to the control requirements of the soft robot,the control system scheme of the modular soft robot is proposed.A pneumatic drive control loop was designed and an experimental control platform was built,and the upper and lower position machines of the soft robot were designed.Finally,a variety of modular soft robots that realize different functions of steering,grabbing and walking are designed.The experimental scheme of the soft robot is designed.Through the experiment,the drive control of the soft robot is realized,and the specified tasks are completed to meet the design requirements. |
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