Structure Design And Control Of Soft Pneumatic Graping Robot

With the development of technology,the application of robot has expanded to many new fields,which puts forward higher requirements for manipulator.Traditional rigid manipulator usually has the advantages of large output load and precise motion,but it also has the weakness of less freedom and low flexibility.In theory,the soft manipulator has unlimited degrees of freedom and arbitrary deformation ability.It has high flexibility as a whole.Its safety and flexibility have been greatly improved,but its load capacity is often low and its repetition accuracy is poor.Therefore,this paper studies a kind of Pneumatic Manipulator Based on the compliant bistable mechanism,which has high security,good adaptability,high repetition accuracy,and the output load is not sensitive to the air pressure fluctuation.This paper mainly studies from the following aspects:(1)By referring to the realization principle and mechanical structure of pneumatic manipulator at home and abroad,a design scheme of Pneumatic Manipulator Based on compliant bistable mechanism is proposed.The compliant bistable mechanism to be added is selected,and the fully compliant bistable mechanism is determined as the enhancement element of pneumatic manipulator.The structural design of each module of the pneumatic manipulator is completed,and the specific scheme and connection mode of each component are determined.(2)The mathematical model of the central air bag is established.Firstly,the pressure deformation characteristics of the central air bag without adding the bistable reed and the pressure deformation characteristics of the central air bag without adding the bistable reed are analyzed.Secondly,the mathematical model of the bistable reed is established to analyze the force on the fully compliant bistable reed,which provides the theoretical support for the production and improvement of the prototype.(3)The prototype of the pneumatic manipulator is manufactured,and the air bag and the pneumatic finger of the pneumatic manipulator are respectively made by silica gel casting.The bistable reed is processed by spring steel sheet and assembled.A pneumatic experiment platform is built,which is divided into hardware platform and software platform.The parts used in the hardware platform are selected,and the control software is compiled to control the designated pneumatic components and drive the pneumatic manipulator to complete the specific actions.(4)Using the related experimental equipment,the movement performance experiment,grasping performance experiment and data collection experiment of the central air bag are carried out.The experimental results show that the pneumatic manipulator designed in this paper can realize the bistable characteristics of the central air bag,and can adapt to different operating objects.It is proved that the design has achieved the original design goals of high safety,good adaptability,high repetition accuracy,and the output load is not sensitive to air pressure fluctuation.