Design And Implementation Of Multi-motion Mode Soft-bodied Robot Imitating Snake Shape

Soft robot has the characteristics of strong environmental adaptability,safe humancomputer interaction and high flexibility.It is rapidly and widely used in military,medical,industrial,post disaster rescue and other fields.At present,most domestic serpentine-like robots are made of rigid materials,which have the problems of single motion mode and poor biomimetic reductivity.In this paper,a highly biomimetic multi-motion mode pneumatic serpentine-like soft robot made of pure soft material is proposed,which can realize three motion modes: winding motion,straight motion and telescopic motion.The main research contents of this paper are shown as follows:(1)Through the research and analysis on the biological structure,movement principle and different motion modes of snakes in nature,a snake-like soft robot with multi-motion modes is designed.Detailed designs are carried out on the head,neck,torso,tail and scale of the robot respectively.The mobile mechanism of the robot is determined and a new design scheme of embedded gas path is put forward.(2)The kinematic and dynamic models of the robot are established.The deformation mechanism of the robot driver is studied,the force during the movement of the robot in winding motion mode is analyzed,and the movement steps in straight and telescopic motion modes are planned.The relationship between the speed and displacement of the robot in straight motion and the relation between the angular velocity and angular acceleration of telescopic motion are obtained.(3)Through the simulation study of bending and elongation deformation of the actuator,the range of pressure that can be accessed into the cavity of the actuator is obtained.The optimal shape and wall thickness of the serpentine-like soft-body robot are determined based on a series of simulation experiments with different shapes of the cavity and different wall thicknesses of the actuator.(4)According to the process flow of mold design,mold making,component pouring and bonding moulding,the robot preparation is completed.The robot experimental platform is built by designing pneumatic system and electrical circuit.Based on the deformation mechanism of the actuator cavity and the motion principle analysis of the three motion modes,a motion test scheme is designed to study the influence of the robot motion cycle and the pressure entering the cavity on the motion.Experiments on the elongation and bending deformation characteristics of single-segment actuator are completed,and the results of theoretical and simulation analysis are verified.According to the motion test results of three motion modes of the robot,it is proved that the snake-like soft-body robot designed in this paper can achieve three motion modes,and its motion is consistent with that of snakes in nature.