Structural Design And Static Analysis Of Continuous Soft Manipulator

Soft robots are a branch of robots that have emerged and become popular in recent years.Soft manipulators are a very important research field in the field of soft robots and can play a very good role in many situations.The soft manipulator has the advantages of many degrees of freedom and small contact force with the environment.These advantages play a very important role in the capture and capture of non-cooperative targets and the detection of small environments.The software manipulator and its control system designed in this paper have a simple structure and a large degree of freedom,which can be well adapted to work scenarios such as non-cooperative target capture and narrow environment detection.Aiming at some of the above-mentioned work scenarios and the needs of large working space,a design scheme of continuous multi-segment soft manipulator and its control system is proposed.The soft robotic arm system consists of the robotic arm body and the control system.In practical applications,a component can be replaced as soon as possible after failure,which can improve work efficiency and save replacement time.Among them,the soft manipulator body module is integrally formed with glue,and the end is open to the trachea.The drive valve module is fixed on the test bench frame on the test bench and is connected to the soft manipulator module through a section of air pipe.The intake end of the drive valve is connected to the air pump through a pipe.The drive valve is transmitted by the voltage signal from the DAC module to control the air pressure value at the output.The mathematical model of the soft manipulator is very important.It is statically modeled based on the Cosserat-Rod model,and the model is solved by the Shooting method.The model can be used to plan the trajectory of the soft manipulator.It is necessary to calibrate the Young’s modulus E of the soft manipulator.The E obtained after calibration can be substituted into the mathematical model to predict the pressure value at a specific point.This paper has completed the prototype design,optimization,production process design and optimization,control system construction and experimental platform construction of the software manipulator arm,and carried out a series of experiments on the experimental platform,including the Young’s modulus and the NDI sensor Calibration experiment,single-stage soft manipulator experiment and double-stage soft manipulator experiment.The experimental results show that the soft manipulator can meet the work requirements and performance indicators of some complex environments.