Research On Pneumatic Soft Robot Based On Dual Motion Mode

Soft robots are a new type of robot that differs from traditional robots in their material composition.They are made of soft materials and have high degrees of freedom and adaptability.These characteristics make them suitable for a wide range of applications in industries such as healthcare,military,exploration,and more.The driving methods for soft robots include fluid and smart material driving,among which gas driving is one of the most widely used due to its simplicity and ease of operation.However,most gas-driven soft robots only have a single mode of movement,which results in low mobility and limited adaptability.To address this issue,this paper designs a soft robot with two modes of movement,crawling and jumping,using gas driving.The robot is analyzed and explored through theory and experiments,with the following specific research content:(1)For the crawling mode,a crawling driver is designed,and inspired by the turtle gait,the crawling gait of the soft robot is designed.For the jumping mode,the jumping principle of the collembolan is analyzed,and a bouncing mechanism using elastic sheets as energy storage is designed.Finally,the overall structure of the soft robot is designed based on the two modes of movement.(2)A nonlinear deformation mathematical model is established for the crawling driver,and the factors affecting the deformation of the driver are analyzed.The force state of the driver when it undergoes bending deformation without considering the influence of gravity is analyzed.The deformation of the driver is simulated and analyzed using ABAQUS software,and the size and driving pressure of the driver are determined using the control variable method to obtain the deformation of the driver under different variables.The relationship between driver deformation and crawling performance is analyzed.The conditions for achieving stable jumping of the soft robot are theoretically analyzed.The energy storage elements for jumping are analyzed under different energy storage conditions,and the jumping driving pressure is determined.The jumping performance of the soft robot is simulated and analyzed using ADAMS software.(3)Based on the action principle of the soft robot,a corresponding gas control circuit is designed.The control of the soft robot’ s different modes of movement is achieved using wireless data transmission technology between the handle and Arduino board.An experimental platform for a gas-driven soft robot with dual modes of movement is built,and the crawling and jumping performance of the robot is tested to obtain its movement speed under different modes.This paper provides a new idea for the structural design of soft robots with multiple modes of movement and adds new options for the application of soft robots in exploration,search and rescue,reconnaissance,and other fields.Figure [62] Table [5] Reference [80]...