Research On Gannet Like High Speed Diving Underwater Soft Hand And Its Opening Mechanism

Compared with the traditional rigid manipulator,soft manipulator has many advantages,such as large degree of freedom,good environmental adaptability,good human-computer interaction and so on.These characteristics make the soft hand perform well in underwater grasping tasks.However,the control of resistance coefficient is often ignored in the current underwater soft hand structure,which makes it difficult for the soft hand to achieve rapid motion underwater,resulting in low practicability;Most of the driving methods of soft hand are still very traditional,which are limited to hydraulic driving and cable driving,resulting in the huge volume of the driving system.To improve the above two points and design and manufacture a new type of underwater manipulator is of great significance to promote the practicality and miniaturization of underwater manipulator,and it is necessary to explore new driving methods.In this paper,a new type of Pelican like high-speed diving underwater soft hand is proposed based on the existing research results at home and abroad and the predation process of natural gannets.The normally closed streamline structure is adopted to make the soft hand move underwater at a faster speed;The soft hand can be opened and closed without external force.The research contents of this paper are as follows(1)Research on a new type of soft hand.In view of the shortcomings of the existing soft hand,a new type of underwater soft hand is proposed,the working principle of the soft hand is given,and the design and modeling are completed.(2)Research on underwater modeling theory of flexible rod.The opening mechanism of the soft hand is studied.Considering that the flexible bar in this paper is a circular platform structure,the variable section coefficient is introduced into Kirchhoff elastic bar theory;In order to realize the modeling of the flexible rod under the action of underwater resistance,the face deformation process of the flexible rod is discretized.(3)Experimental study.The prototype of the soft hand and the experimental platform are assembled.Through experiments,it is verified that the soft hand can complete the grasping action according to the predetermined plan,and the theoretical derivation of the soft hand opening mechanism has practical guiding value.