Pneumatic worm-like soft control arm and preparation method thereof

Abstract

The invention discloses a pneumatic worm-like soft control arm and a preparation method thereof, and belongs to the field of fluid driving and soft robots. According to the pneumatic worm-like soft control arm, bidirectional symmetrical crossed and spirally wound fixing lines are designed by simulating a worm fiber membrane, the length of an elastic body arm can extend along with increase of the size when air pressure is applied to the elastic body arm, the radial expansion and torsion trend of the elastic body arm is limited, and a full-drive system with one cavity input only corresponding toone bending motion and completely free of coupling torsion is achieved, so that the abnormal expansion and torsion of the elastic body arm are reduced while the bending and extending actions of the elastic body arm in a three-dimensional space of the elastic body arm are realized, and the stability of the soft control arm is effectively improved; and an elastic body outer layer is arranged by simulating hydrostatic skeletons (octopus arms, trunk and chameleon tongue) widely existing in the nature, so that the bionic effect on a longitudinal muscle bundle, the fiber membrane and epidermis of aworm is realized from the structure, and the biological mechanism is better met.

Description

technical field [0001] The invention belongs to the field of fluid drive and soft robots, and more specifically relates to a pneumatic worm-like soft manipulator and a preparation method thereof. Background technique [0002] A traditional robot is a machine composed of rigid segments and connectors, and its motion is mainly based on changes in joint angles or positions between rigid segments. This type of machine has the characteristics of precise motion control and is widely used in military, industrial, logistics and other fields. However, with the increasing complexity of human requirements for the working environment of robots, the application requirements for robots have also increased. However, traditional robots are more suitable for working in free space due to the limitation of rigid structure on the working space, and have poor adaptability to complex unstructured restricted environments. For example, it is difficult to observe organisms through narrow reef gaps...

AI Technical Summary

Problems solved by technology

The expansion phenomenon will limit the working area of ​​the soft robot to a small range of air pressure, and will make it difficult for the soft robot to achieve elongation, bending and other movements

Unconstrained pneumatic soft robots will also be accompanied by abnormal coupling torsion when pressurized. This coupling torsion under a single drive means that the soft robot is an underactuated system, and it is difficult to model the coupling torsion in actual control, resulting in The control precision of the underdriven system is low

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