Design,Manufacturing,Simulation Test And Application Of A New Pneumatic Software Actuator

As a new generation of robots,soft robots have begun to appear in the public's field of vision.It has strong adaptability to the environment and has the ability to arbitrarily deform its size over a wide range.Its special advantages make soft robots have their own unique advantages in certain fields.As the core of soft robots,soft actuators are the most important.The development of soft actuators with differen t forms or different functions has gradually become the hotspot of scientific research at this stage.In this regard,this paper developed and designed a new type of pneumatic soft actuator,the main research work is as follows:Based on the gas drive,a soft actuator that integrates the functions of elongation,contraction and bending was developed and built,and its three-dimensional model was built.The manufacturing process of the actuator was optimized and improved.Then,the experimental materials and model fitting of the soft actuator were carried out,and the relevant material parameters were obtained.The ABAQUS finite element analysis software was then used to simulate the elongation,contraction,bending and tail-end collision of the soft actuator to obtain the relevant motion characteristics.At the same time,the effects of different material parameters and different structural parameters on the motion characteristics of soft actuators are compared.Then,the parameters of the soft actuators are optimized according to the obtained results.Based on the Arduino controller,an experimental test platform was built.The elongation,contraction and bending characteristics and the end force of the soft actuator fabricated by the optimized process were tested and tested with the analysis results of the finite element software.The comparison has drawn relevant conclusions.Based on the designed new pneumatic soft actuator,a soft gripping scheme was designed,and some typical object grabbing experiments w ere carried out.At the same time,the maximum gripping force of the pneumatic soft mechanical gripper was tested,which was later related to the soft mechanical machine.The design of the grip provides a certain guidance.Based on this soft actuator,a so ft transportation scheme is proposed.A soft transport device is built through the analysis of the bionic "ciliary" motion principle,and some related objects are also carried out.The transport test can help subsequent researchers to design soft transport.