Design Of Bio-Inspired Soft Actuators Based On Two-Bar Tensegrity Structure

The soft robot field is the intersection of flexible electronics,biomimetic mechanics,intelligent materials,3D printing and other fields.With the progress of science and technology and the increasing demand for automation,soft robot technology is constantly researched and developed.In recent years,the research on bionic flexible actuators is a hot topic in the field of robotics.In order to improve the stiffness and stability of the traditional flexible actuator,a bionic flexible actuator based on the tensioning integral structure and flexible actuator was designed by taking the biological structure of human muscle as inspiration and combining the tensioning integral structure.The main contents of this paper include:Firstly,based on the microscopic structure and motion mechanism of human muscle bars,the equivalent model of bionic tensioned whole structure with similar coupling relationship was established through equal scale mapping according to the microscopic dimension parameters and spatial position relationship of muscle bars.Secondly,according to the equivalent mapping model,the mathematical model of the basic unit of the bionic tensegrity structure is established,and the motion characteristics of the bionic tensegrity unit are determined.The kinematic analysis of the bionic tensegrity structure is carried out through the transformation matrix,and the working space of the specified reference point is obtained.The inverse kinematics method is used to solve the structural motion analysis and complete the theoretical analysis of the kinematics.Then,the bionic design method was used to realize the bionic tensioning integral structure configuration design.ADAMS simulation was used to simulate the motion characteristics and performance of the designed bionic tensioning integral structure,and the simulation results were compared with the theoretical analysis to verify the effectiveness of the theoretical method.At the same time,the outer spring of the bionic tensioning integral structure is equivalent to be replaced by a driving unit,and a driving unit is designed based on the shape of bellow.The mold of the elastomer of the pouring driving unit is manufactured by rapid prototyping technology and the pouring is completed.The performance test platform of the driving unit was built,and the structural parameters of the wall thickness and waveform Angle of the driving unit were optimized to select the optimal structural parameters.Finally,according to the optimization results of the bellows driving unit and the structural parameters of the biomimetic tensioning overall structure,the physical prototype of the biomimetic flexible driver was made.The experimental platform was built to test the performance and practicability of the biomimetic flexible driver prototype,and to verify the effectiveness and practicability of the proposed structure.