Design And Analysis Of Chameleon-tonguelike Soft Robot

Recently,with the critical developing of scientific research on various kinds of organisms and biological organs by scientists,bioinspired soft robots based on imitating the characteristics and motion mechanisms of creatures have been widely used in the engineering field.Chameleon tongue is a typical biological organ,which has features of compact structure,high speed,and stable preying,thus developing a Chameleon-tonguelike soft robot with these features has great significance to the application of bionic soft robot in engineering field,especially in the field of rapid grasping.This paper takes the rapid preying movement of Chameleon tongue as the starting point.Aiming at the shortcomings of bionic projection structure,retraction method and fragile objects capture of the traditional Chameleon-tongue-like robots,a new type of Chameleon-tongue-like robot incorporating soft technology is proposed.The key issues consist of the projection-retraction mechanism designing based on soft technology,kinematics,stable motion control and fragile objects rapidly capture of this new Chameleon-tongue-like soft robot are studied,by adopting tools such as bionics,kinematics and control.The main research contents are as follows:(1)Through the analysis and research on the muscle structure and motion character of Chameleon tongue,and based on the elastic energy-storage-and-release mechanism and ballistic mechanism of Chameleon tongue,a new design of pneumatic bionic sliding catapult with a soft tubular actuator as the key moving part is presented.Through the analysis on the moving character of the bionic sliding catapult,a kinematic model aiming at evaluating the initial velocity of the bionic sliding catapult is established.Based on the results of the model,guiding the structural optimization design and fabrication of the bionic sliding catapult.(2)Aiming at optimizing the initial velocity and minimizing the structure of the bionic sliding catapult,a process plan for manufacturing the soft tubular actuator based on the fiber-embed silicone membrane is proposed.Based on the pneumatic projection experimental setup,investigating the relationship between geometrical parameters,working pressure and the initial velocity of the bionic sliding catapult.The validation of the kinematic model is also implemented.(3)Through the analysis of the preying progress of Chameleon,a design of a rapid retraction module compatible with the bionic sliding catapult and a vision-based posture alignment platform is presented.The pneumatic system and electrical system of the robot is derived.(4)Based on the analysis of the motion logic of the robot,the interaction relationship between upper and slave computer is determined and the software program is written.Based on the prototype of Chameleon-tongue-like soft robot,the capture performance at fixed point of the robot is studied and the high speed and validating the fragile objects capture performance of the robot.Based on the real-time image and the remote guiding of the upper computer,the bionic preying progress and the multi-directional capture ability of the robot is proved experimentally.