Research On Multi Chambers Pneumatic Soft Arm

Pneumatic soft robots are gradually becoming the focus of research in the field of soft robots due to their advantages of convenient energy sources and low cost.This article studies the multi chambers pneumatic soft arm.This soft arm can freely change its posture due to the different length which is caused by the difference pressure of the three built-in chambers.This article mainly studies the static characteristics of the soft arm and analyzes the factors that affect its bending ability.Then a rapid simulation model is established.Finally,the soft arm is fabricated according to simulation analysis.At the same time,a verification system is designed and its function is verified by simulating.First of all,this article discusses the static characteristics of the soft arm.In the study,it is found that the radial expansion could bring greater bending angle,but it also causes premature failure of the material.The radial expansion of the soft arm is restrained by applying the ring constraint and the spiral constraint.The spiral constraint has a stronger ability to suppress the bending of the soft arm,but its bearing capacity is also greater.Then,the soft arm is equivalent to a spring network in space,and the rapid simulation model is established by analyzing the relationship between the stiffness of the branch and the state parameters.The spring stiffness is identified by the way of identification.Then the kinematics model of the soft arm is established by using the idea of segmented arc.Finally,the soft arm is made by using the perfect technology.and a verification system was designed to verify the technical specifications.