Design Of Soft Robot Based On Magnetic Ball Reinforced Elastic Body

In recent years,due to its strong environmental adaptability,good flexibility and high degree of freedom,soft robots are suitable for performing complex and dexterous tasks in the fields of emergency survey,medical rehabilitation,and bionics.However,due to the elasticity of the body material,it has limitations in response time and morphological changes,which limits the environmental adaptability and body movement ability of the soft robot.In view of the current response time of the robot soft gripper and the limitation of morphological changes,this paper optimizes the structure of the soft gripper,using a permanent magnet called a buck ball,whose magnetic pole performance can make the magnetic balls free.The combined structure has the advantages of high magnetoelasticity and high sensitivity.The elastic characteristics of the magnetic ball combined structure are coupled with the elastomer material,its deformation mechanism is studied,and a magnetic ball reinforced elastomer gripper is designed.The focus of the subject is to solve the basic theory of the design of coupling deformation structure with polar distributed magnetic field and structural elastic field,and the deformation motion control method of the magnetic ball-enhanced elastomer soft robot.First,based on the current structural basis of the soft gripper,the magnetic ball and the elastic body are coordinated to deploy the design idea,the magnetic ball-silicone is coupled into a single chain structure,and the force field and magnetic field are analyzed using ANSYS Workbench and Maxwell simulation software.For the magnetic ball-silicone coupled elastomer,analyze the effect on the stiffness of the magnetic ball with different spacing,number and diameter.According to actual needs,combined with the simulation results,the optimal magnetic ball spacing of the soft coupling structure is 3mm,the number is 5-7,and the diameter is 5mm.Secondly,the application of 3D printing technology to realize the preparation of the soft gripper.According to the structural deformation design requirements,a reasonable deployment plan of the magnetic ball was selected,and a three-finger soft gripper and a two-finger soft gripper were prepared.Through experiments,the structural parameters are optimized,and the soft gripper with the optimal structure is obtained.Finally,the three-finger soft gripper and the two-finger soft gripper were respectively installed on the industrial robot arm,and the soft gripper was driven by the cord drive and the magnetic drive respectively,and 20 sets of physical objects were picked and placed.Experiment to verify the feasibility of the overall scheme.Comparing the results of the two drive modes,it is found that the three-finger soft gripper is suitable for cord drive,and the two-finger soft gripper is suitable for magnetic drive.The magnetic ball-reinforced elastomer gripper designed in this subject has a good application prospect in clamping irregular and fragile items.