Research On Design And Experiment Of Pneumatic Soft Climbing Robot

The body of the soft robot is made of soft material.Soft robots can realize bending,twisting and other movements and have unprecedented flexibility and adaptability.At present,soft robots can crawl,creep and pass through small spaces by simulating the motion patterns of living organisms.They have broad application prospects in unstructured environments.Soft robots are compatible with other objects in a compliant manner,making it easy to grab or carry fragile items.In this paper,the high adaptability of soft robots is applied to slopes,round bars,cables and other buildings,and the stability of climbing robots is further improved.Based on the existing driving method of pneumatic mesh,the soft climbing robot shown in this paper is designed.The main contents include the basic structure and working principle of the soft climbing robot,the analysis of the viscous mechanical properties of the contact surface,the motion state of the robot under vibration response,the production of physical objects through 3D printing,and experiment analysis.Details as follows:First,the structure of the actuator of the soft climbing robot and the pneumatic circuit control board are designed.The structure of soft actuator is the stiffness gradient layer and the working principle of soft actuator is alternating inflation to achieve movement.The pneumatic circuit control board provides gas pressure to the soft actuator through the conduit,and air slip ring is used to solve the catheter entanglement during the movements.Next,the deformation of the deformation layer is analyzed by the minimum potential energy method.When the actuator has a different number of cavities,the required deformation of contacting with the contact surface after deformation.The ANSYS finite element analysis software was used to simulate the single cavity inflation and the simultaneous inflation of the double cavity.The relationship between the total deformation and the equivalent stress of the deformation layer and the pressure was obtained.Then,the discrete method is applied to analyze the influence of cable vibration on the soft climbing robot,and the motion performance of the soft climbing robot under the free vibration is obtained.Finally,the 3D printing technology,the layered casting method and other methods are used to manufacture multiple different soft actuators.The experimental platform was built,and the high-speed camera and Image Pro dynamic image analysis software were used to visually collectand analyze the data.The deformation characteristics of the soft robot under different conditions were obtained,and the actual motion of the soft robot under the empty load was verified by the cooperation of the driving device.