Design And Motion Analysis Of Spherical Deformable Soft Robot

Soft robots are a hot spot in the field of robotics research.Compared with traditional robots,the safe human-computer interaction and adaptability of soft robots have broad prospects in the fields of human-computer interaction,terrain exploration,medical rehabilitation,and wearable robots.Inspired by the deformation of the armadillo,this subject designed a new type of spherical deformable soft robot based on the space structure based on the spherical origami structure combined with the characteristics of 3D printing,and analyzed the deformation driving strategy and movement gait of the robot.The actual robot was built,the control system was built,and the robot deformation and crawling experiments were carried out.Imitating the deformation characteristics of an armadillo that can curl its body into a spherical shape,and drawing on the Yoshimura origami structure and flexible material 3D printing technology,a spherical deformable soft robot shell that is 3D printed with TPU material and has a spatial Voronoi grid is designed.3D modeling of Yoshimura spherical origami structure using 3ds MAX software,and Voronoi grid structure optimization of the modeled spherical origami structure through Meshmixer software,and the optimal spherical deformable robot is determined structural optimization parameters.The minimum deformation unit of the optimized spherical robot model was intercepted,and the compression experiment simulation model was established in the finite element simulation software,and the relationship between the force and displacement of the model during the deformation process was obtained;the same compression experiment as the simulation model was carried out in the laboratory.The deformation of the minimum deformation unit under different pressures is studied;the simulation data and experimental results are compared to verify the constitutive model parameters of the material in the simulation model,indicating that the deformation results of the model under force are correct,and it is a subsequent spherical deformable soft robot.The overall deformation simulation analysis provides a theoretical basis.The driving strategy of the soft robot is researched,the pull-wire drive mode is proposed,and the two deformation schemes of the pull-wire drive of the symmetrical and asymmetrical arrangement of the pull-wire device are given;the finite element simulation software is used to analyze the two types of spherical deformable soft robots.Simulation analysis was performed on the deformation in the wire-drawing mode;based on the results of the simulation analysis,the movement gait of the spherical deformable soft robot in the two wire-drawing modes was planned,and the optimal wire-drawing device layout was selected.Based on the FDM forming principle,the shell of the spherical deformable soft robot and the fixing device of the pulling device are integrated by 3D printing,the printing parameters are determined,and the possible problems and solutions in the printing process are analyzed.The experimental platform of the spherical deformable soft robot was built,and the asymmetrical driving method of double and three pulling wires was proposed.The unfolding deformation experiment and the crawling experiment were carried out on the robot respectively,and the driving method with a faster crawling speed in the plane crawling was obtained.