Design And Experimental Study Of Modular Pneumatic Soft Robot

With the continuous upgrading of modern technology and industrial level,robots are playing an increasingly important role in production lines,and their applicability and intelligence requirements are also constantly improving.Modular software robots are a robotic technology that combines the advantages of software robots and modular robots.Not only does it possess the unique characteristics of high flexibility,continuous deformation,and diverse functions of soft robots,but it also inherits the design advantages of modular robots,allowing for flexible combinations of driving units to meet different task requirements.This article mainly focuses on the design and experimental research of a modular pneumatic soft robot,and the main research content is as follows:(1)Design a software driver unit for modular pneumatic soft robots.Based on bionics design idea,a software driver unit driven by air pressure is designed on the basis of hexagonal honeycomb structure.We compared the deformation principles of this software driving unit with traditional pneumatic grid software actuators,and analyzed the deformation advantages of the software driving unit.The influence of two key parameters,wall thickness and opening gap depth,on the range of deformation variables of the soft driving element was analyzed using finite element software,and the sizes of these two design parameters were determined.(2)Establish a mechanical model for the driving unit of the honeycomb like software.Select the material for making a honeycomb like soft drive unit as an adjustable hardness rubber material.Based on the characteristics of rubber as a hyperelastic material,a nonlinear relationship model between the pressure and deformation of the soft driving unit under driving pressure is established by combining the Yeoh model and the principle of virtual work.By controlling the driving air pressure,the height variation of the soft driving unit can be predicted,and this model can be used to predict experimental results and guide the design of modular pneumatic soft robots in the future.(3)Three modular pneumatic soft robot configurations have been designed.Modular pneumatic soft robots with three configurations,namely hook claw type,telescopic type,and bidirectional bending type,were designed using modular design ideas through series or parallel connection.Finite element statics simulation was carried out for three different configurations.At the same time,dynamic simulations were conducted on the bidirectional curved modular pneumatic soft robot,analyzing the two working states of worm like straight forward and turning.(4)Experimental research was conducted on three modular software robots designed in different configurations.A modular pneumatic soft robot control system was designed,including a circuit control system,a gas drive system,a pneumatic control circuit,and a microcontroller control program.We have built a modular pneumatic soft robot testing platform and produced molds and physical prototypes of the modular pneumatic soft robot.The effectiveness of the modular pneumatic soft robot designed in this project was verified,and its application in specific working environments was explored.Experimental research was conducted on the function of hook claw modular pneumatic soft robot in grasping objects of different shapes and the worm like straight forward and turning obstacle avoidance function of bidirectional bending modular soft robot humans.