Design And Control Of A Quadruped Soft Robot

As a new type of robot made of flexible materials,soft robot has high flexibility and adaptability due to its flexibility.Researchers find design inspiration through earthworms,snakes and elephant trunks in nature,so that soft robots can adapt to the unknown and complex environment through active and passive deformation.It has broad development space in the fields of rescue,detection and medicine.The research field of soft robot is in the initial stage,so the research and design of soft robot is of great significance to promote the development and application of soft robot.In this paper,a quadruped soft bionic robot is designed,and its simulation and experimental research are carried out.The main research contents of this project include the following points:Firstly,by improving the pneumatic mesh software actuator,a two-way bending software actuator is designed and manufactured.Compared with the pneumatic mesh software actuator,the actuator can achieve two-way fixed angle bending.The nonlinear mechanical model of two-way bending soft actuator is established to explore the relationship between the driving pressure and bending angle.It is beneficial to better control the bending angle when applying the software actuator.It is beneficial to better control the bending angle when applying the software actuator.Finally,the two-way bending soft actuator is made,the mold of the actuator is printed by 3D printer,and the mold is made by pouring silica gel.Based on the two-way bending software actuator,a four legged bionic software robot is designed.The design inspiration of the software robot comes from turtle in nature.Four two-way bending software actuators are used in the four feet of the software robot.The control panel of the air circuit of the software actuator is designed,and the steering gear is used to assist the movement of the software robot.STM32 microcontroller is used in the control part of the soft robot.The microcontroller is used to control the steering angle and the bending direction of the soft actuator,and the data is transmitted through the wireless module to make the soft actuator realize the crawling function.An experimental platform was built to study the relationship between the driving pressure and the bending angle of the software actuator,and compared with the mechanical model to verify the reliability of the theoretical analysis results.Finally,in the laboratory environment,the movement ability of the soft robot is verified,and the fastest movement speed of the soft robot is obtained through experiments.