Research On Underwater Flexible Arm Based On Biomimetic Hybrid Drive

Rigid robots have been widely used in daily life,and even play an important role in some industries.Due to the poor self-adaptability and human-computer interaction,rigid robots are difficult to be used in unstructured environments.Flexible actuators can compensate for this defect by virtue of their own flexibility characteristics,which makes software robots gradually become a new thing of concern to scientists.With the development of materials science and manufacturing technology,the technology of combining bionic technology with engineering application to create software robots has gradually matured.In this context,a new hybrid-driven underwater flexible arm(hydraulic drive and jet drive)is designed in this paper.The research is mainly studied from the following aspects:Firstly,a new type of underwater flexible actuator with hybrid drive function was designed by using BioTRIZ combined with extenics.By analyzing the defects of insufficient rigidity and low bearing capacity of the flexible actuator,the BioTRIZ matrix is searched,and the biological prototype of the biomimetic design is searched by the biological example library,and the similarity evaluation of the biological prototype is introduced by the extension theory.Finally,the static water skeleton octopus and squid were selected.The multi-biological coupling method was used to combine the flexibility of the octopus tentacles with the squid spray propulsion,and a new type of flexible actuator with hybrid power was designed.Secondly,the kinematics and statics equilibrium equations of hybrid actuated flexible manipulator are established.The position where the flexible arm can be bent under different radius conditions was solved to ensure that large bending deformation was generated as much as possible under the condition of convenient installation,which provides a theoretical basis for the assembly of the flexible arm in subsequent experiments.Then,Monte Carlo algorithm was applied to solve the end motion space of the hybrid drive flexible arm,and the end motion space point diagram is obtained.The artificial muscle of flexible arm was equivalent to a spring model to analyze its static characteristics,and the static equilibrium equation was established through the equivalent model.Finally,the bending and load capacity of the flexible arm in the three modes of single drive and hybrid drive are tested,and the multi-finger grasping system of the composition is grasped by different shapes.Experiments show that the flexible arm composed of three muscles has greater flexibility,and the flexible arm composed of four muscles can produce greater force,while verifying the advantages of the hybrid drive.The cooperative grabbing tests of two flexible arms with different structures are carried out.The experiments show that the flexible arms can adapt to different shapes and weights of objects.