The Structure Design And Performance Research Of A Bellows-type Pneumatic Soft Manipulator

Rigid robots are often used in high-precision assembly,routine flow tasks in automated production lines,and related tasks in specific environments,but their deformability and flexibility are difficult to adapt to unknown,complex and changeable environments.Compared with rigid robots,soft robots have obvious advantages in realizing safe interaction with the environment,dexterous operation in confined spaces,and grasping of unstructured objects.Therefore,this paper has developed a pneumatic soft manipulator based on the bellows structure and studied its performance.The main work content is as follows:This paper first proposes a bellows-type pneumatic soft manipulator with a segmented structure,and explores a set of manufacturing processes that match the designed soft manipulator unit.The super-elastic material TPU is determined through uniaxial tensile tests.Based on the Ogden constitutive model material parameters,the finite element model of the driver was established using finite element analysis software,and the bending angle of the driver under different driving pressures was simulated,and the influence of structural parameters on the bending performance of the driver was analyzed through the model.An experimental platform for performance testing was built to test the relationship between the bending deformation angle and the driving air pressure,and the relationship between the blocking force and the driving air pressure on the three-section soft manipulator unit produced.The experimental results show that there is a linear relationship between the driving air pressure and the bending angle,the driving air pressure and the blocking force.Finally,the three soft manipulator units are assembled in sequence into a complete soft manipulator,and the animal abdominal cavity model is used to demonstrate its flexibility.The modified D-H notation was used to model the kinematics of the soft manipulator unit and the soft manipulator arm,and the bending deformation posture was simulated.Finally,the Monte Carlo method was used to solve the working space,and the software manipulator unit's kinematics was obtained.The working space is a three-dimensional spherical shell,while the working space of the soft manipulator is a solid sphere.