Research On Key Technologies Of Sensing And Control Of Soft Crawling Robot

Due to its excellent flexibility,safe interaction with operators,adaptability to a variety of environmental changes,and easy to pass through narrow space or complex channels,soft robot has broad application prospects in the fields of rescue,medical treatment,industry,military and life services.However,the existing software crawling robots generally lack accurate and stable embedded sensing system,which has the problems of slow control response speed and difficult closed-loop control.Therefore,this paper studies and proposes an implantable sensing detection technology scheme for real-time detection of the length and curvature of the software crawling robot in the process of motion,and designs the control system of the software crawling robot based on Fuzzy PID control.The specific research work is as follows:The mathematical model of deformation driving of software crawling robot is studied.Based on the energy density equation,the constitutive model of hyperelastic material is established.On this basis,by analyzing the structural characteristics and working principle of soft robot,the theoretical model of length and curvature of flexible actuator is derived,which lays a theoretical foundation for subsequent research work.In order to meet the real-time detection requirements of the sensing system of the software crawling robot,an implantable sensing detection technology scheme is proposed.The flexible membrane pressure sensor is implanted into the hyperelastic material to make a length sensor that can detect the length change of the software crawling robot;A micro strain gauge is implanted into hyperelastic material to make a bending sensor which can detect the bending change of soft robot.The implantation schemes of the two sensors are studied and calibrated.The sensitivity,repeatability and hysteresis of the two sensors are tested by experiments.A software actuator control system based on proportional directional control valve is proposed.Through the identification of the soft robot system,the dynamic model of the soft robot control system is established.The fuzzy PID control strategy is used to simulate the control performance of the control system under different input signals;A software crawling robot control system based on Lab VIEW is proposed and tested.The results show that under the condition that the robot motion environment remains the same,by improving the robot’s self sensing system and optimizing the robot’s control strategy,the robot’s motion speed is increased by 16.67% compared with the original control system,and the closed-loop control of actuator length and curvature is realized,It has higher control accuracy and stability.