A method for the rotational braiding manufacture of a soft robot

Abstract

The application discloses a kind of soft robot's rotary weaving manufacturing method.Method includes: first elastomer fiber is tightly spiral woven in the surface of horizontally arranged stainless steel rod, then heated and fused to form eccentric hose, stop heating and cool to normal temperature;Second elastomer fiber is spaced spiral woven in the surface of eccentric hose, then heated and fused to form an integral with eccentric hose, stop heating and cool to normal temperature after demolding;The end of eccentric hose is sealed to obtain soft robot, and the other end of the eccentric hose of soft robot is inflated to realize bending-torsion composite deformation.The method of the application does not need to prepare special mold, and soft robot can be manufactured by weaving thermoplastic elastomer fiber and heating treatment, with the advantages of simple process, high efficiency, good material compatibility and easy batch manufacturing.

Description

Technical Field

[0001] This invention relates to a robot manufacturing method, specifically to a rotary weaving manufacturing method for a soft robot. Background Technology

[0002] Soft robots, due to their softness and compliance, are widely used in fields such as flexible grasping, wearable devices, and medical equipment. For pneumatically driven soft robots, the key factor determining their deformation form is their wall thickness distribution. The asymmetrical wall thickness difference on both sides of the cavity will cause the soft robot's body to bend in a specific direction after inflation, thereby achieving diverse movement and grasping functions.

[0003] Existing methods for manufacturing soft robots mainly fall into two categories: silicone casting (mold forming) and additive manufacturing (3D printing). Silicone casting requires the design and fabrication of specialized molds for each structure, resulting in long production cycles, poor process flexibility, and hindering rapid iteration. While 3D printing improves design iteration speed, it requires high-hardness materials, leading to poor stretchability and difficulty in achieving large deformations in the printed soft robots. Furthermore, existing methods still have shortcomings in achieving multi-material integration, wall thickness difference programming, and mass production, limiting the further development of soft robot technology. Summary of the Invention

[0004] To address the problems existing in the background technology, this invention provides a rotary weaving manufacturing method for soft robots. This invention manufactures soft robots through a weaving and heating process of thermoplastic elastomer fibers on a stainless steel rod, and utilizes the heating process and gravity to program the wall thickness difference of the soft robot. This method is simple, adaptable to a wide range of materials, and easily enables multi-layer structures and parametric control, opening up new opportunities for soft robot technology.

[0005] The technical solution adopted in this invention is:

[0006] The rotary weaving manufacturing method for the soft robot of the present invention includes:

[0007] Step S1: Tightly spirally weave the first elastomer fiber onto the circumference of a horizontally arranged stainless steel rod, then place the whole assembly in an oven and heat it to melt to form an eccentric hose. Stop heating and cool it to room temperature.

[0008] Step S2: The second elastomer fiber is spirally braided at intervals on the circumference of the eccentric hose, then heated and melted to form an integral part with the eccentric hose. After heating is stopped and the material is cooled to room temperature, it is demolded.

[0009] Step S3: Seal one end of the eccentric hose to obtain the soft robot. Connect the other end of the eccentric hose of the soft robot to the air tube and inflate the soft robot with air through the air tube to achieve bending-torsion composite deformation.

[0010] In step S1, one end of the first elastomeric fiber is fixed to one end surface of the stainless steel rod, and the other end is spirally wound along the length of the stainless steel rod without intervals to a second preset length. Then, the other end is fixed to the other end surface of the stainless steel rod before being heated and melted.

[0011] In step S1, the diameter D of the stainless steel rod is ≥1.0 mm, preferably 1.2 mm, and the cross-section of the stainless steel rod is circular or semi-circular, preferably circular, and when semi-circular, the circular edge faces upward.

[0012] In step S1, the first elastomeric fiber is heated at a preset first temperature T1 for a preset first time t1, so that the first elastomeric fiber melts and converges under the action of gravity to form an eccentric hose with uneven wall thickness.

[0013] In step S2, the second elastomer fiber is heated at a preset second temperature T2 for a preset second time t2, so that the second elastomer fiber melts and bonds with the surface of the eccentric hose. The preset first temperature T1 is greater than the preset second temperature T2 to prevent the eccentric hose and the second elastomer fiber from flowing during secondary heating. Temperatures T1 and T2 depend on the melting temperature and degree of melting of the material. The preset first temperature T1 and the preset second temperature T2 are 190℃-220℃, with T1 preferably being 215℃ and T2 preferably being 195℃. The preset first time t1 is greater than or equal to the preset second time t2. The preset first time t1 controls the initial degree of eccentricity of the soft robot, i.e., the wall thickness difference, and is preferably 5 minutes. The preset second time t2 is usually 3 minutes-5 minutes, preferably 4 minutes. The specific T and t are determined according to the type of thermoplastic elastomer and the fiber diameter selected.

[0014] In step S2, one end of the second elastomeric fiber is fixed to one end of the stainless steel rod, and the other end is spirally wound along the length of the stainless steel rod at intervals on the surface of the first elastomeric fiber to a second preset length. Then, the other end is fixed to the other end of the stainless steel rod and then heated and melted. The first preset length is greater than the second preset length.

[0015] In step S2, the second elastomer fiber is spirally wound and woven at a preset pitch P. The preset pitch P is 1.5 to 3.0 times the diameter of the second elastomer fiber, preferably 2 times, to produce an excellent bending-torsion composite deformation effect. The diameter of the first elastomer fiber and the second elastomer fiber is 1.0 mm to 2.0 mm, preferably 1.5 mm.

[0016] In step S2, the first elastomer fiber and the second elastomer fiber are thermoplastic elastomer fibers, including thermoplastic polyurethane fiber (TPU) and modified copolymer (SEBS) fiber, etc.; the modified SEBS fiber is a styrene-ethylene-butene-styrene block copolymer fiber, which is a modified material of thermoplastic elastomer.

[0017] In step S2, the hardness of the second elastomer fiber is greater than that of the first elastomer fiber. The Shore hardness of the first elastomer fiber is 10A-40A, preferably 30A, and the Shore hardness of the second elastomer fiber is 60A-90A, preferably 60A.

[0018] In step S3, the soft robot is inflated through a trachea. As the soft robot bends due to eccentricity, it undergoes torsional deformation caused by the helical constraint of the second elastic fiber, thereby achieving a combined bending-torsional deformation.

[0019] This invention allows for the programming of the required wall thickness difference and bending-torsion coupling ratio by adjusting controllable parameters such as material hardness, fiber diameter, weaving density, heating temperature and time, and external pitch. This enables the mass production of diverse and customizable soft robots without the need for specialized molds.

[0020] The beneficial effects of this invention are:

[0021] 1. This invention does not require special molds, has low manufacturing costs and short manufacturing cycles: This method uses weaving and heat treatment as the main processes, avoiding the mold design and processing required for silicone casting, and is suitable for rapid iteration and mass production.

[0022] 2. The present invention has strong material compatibility and multi-material preparation capability: a variety of thermoplastic elastomer fibers can be selected, and a variety of soft robot structures can be realized by the difference in hardness between the inner and outer layers, the pitch and weaving parameters, which makes it easy to adjust the mechanical and deformation characteristics according to the application requirements.

[0023] 3. The invention has high programmability: By adjusting parameters such as weaving density, heating temperature, heating time and placement method, the wall thickness difference can be directly controlled, and the deformation mode (bending, twisting, elongation, or bending-twisting combination) can be customized in a programmable manner.

[0024] 4. This invention is green and sustainable: by using thermoplastic materials, the soft robot can be recycled into thermoplastic elastomer fiber raw materials, which is conducive to resource conservation and recycling.

[0025] 5. The soft robot manufactured by this invention is suitable for applications such as soft grippers, crawling robots, and medical catheters. Attached Figure Description

[0026] Figure 1 This is a schematic flowchart of the manufacturing method of the present invention;

[0027] Figure 2 This is a schematic diagram of the weaving steps in the manufacturing process of this invention;

[0028] Figure 3 This is a schematic diagram of the heating step in the manufacturing process of this invention;

[0029] Figure 4 This is a schematic diagram of the cooling and demolding steps during the manufacturing process of this invention;

[0030] Figure 5 This is a schematic diagram of the structure of the bending and deforming initial soft robot manufactured according to the present invention;

[0031] Figure 6 A schematic diagram showing the difference in cross-sectional wall thickness of the eccentric hose manufactured according to the present invention;

[0032] Figure 7 This is a schematic diagram of the rotary weaving step in the manufacturing process of this invention;

[0033] Figure 8 This is a schematic diagram of the bending-torsion composite deformable soft robot manufactured according to the present invention.

[0034] Figure 9 This is a photograph of the weaving process during the manufacturing of this invention.

[0035] Figure 10 This is a physical diagram showing the evolution of the eccentric cross-section during the heating step of the manufacturing process of this invention.

[0036] Figure 11 A photograph of the initial soft robot manufactured according to this invention, showing its inflatable bending deformation.

[0037] Figure 12 A physical image of the inflatable bending-torsion composite deformable soft robot manufactured according to the present invention.

[0038] In the diagram: 10. Stainless steel rod, 111. First elastomer fiber, 112. Eccentric hose, 12. First cable tie, 13. Second cable tie, 14. Third cable tie, 15. Trachea, 211. Second elastomer fiber, 22. Fourth cable tie, 23. Fifth cable tie, 24. Sixth cable tie, 25. Trachea. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The technical solutions described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the technical solutions in this application without inventive effort are within the scope of protection of this application.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] like Figure 1 As shown, a specific embodiment of the rotary weaving manufacturing method for the soft robot of the present invention is as follows:

[0042] Example 1:

[0043] 1. The first elastomer fiber 111 is a modified copolymer SEBS fiber with a Shore hardness of 30A. The modified SEBS fiber is a styrene-ethylene-butene-styrene block copolymer fiber, which is a modified material of thermoplastic elastomer. The fiber diameter d = 1.5 mm; the stainless steel rod 10 is selected with a diameter D = 1.2 mm and a circular cross-section.

[0044] 2. For example Figure 2 and Figure 9 As shown, the first elastomer fiber 111 is tightly spirally woven on the circumference of the horizontally arranged stainless steel rod 10. One end of the first elastomer fiber 111 is fixed to one end surface of the stainless steel rod 10 by the first cable tie 12, and the other end is spirally wound along the length of the stainless steel rod 10 without intervals until the second preset length. Then the other end is fixed to the other end surface of the stainless steel rod 10 by the second cable tie 13 and then heated and melted. The first preset length L = 8 cm.

[0045] 3. For example Figure 3 , Figure 6 and Figure 10As shown, the woven stainless steel rod 10 is placed horizontally and heated in an oven at a preset first temperature T1 of 215 ℃ for 5 min, so that the modified SEBS fiber melts and flows and converges under the action of gravity to the bottom of the stainless steel rod 10, gradually forming a wall thickness difference, resulting in an eccentric hose 112 with a wall thickness difference of 0.8 mm. The preset first time t1 controls the degree of eccentricity of the initial soft robot, i.e. the wall thickness difference.

[0046] 4. For example Figure 4 As shown, after stopping the heating of the eccentric hose 112 and cooling it to room temperature, it is then demolded. Figure 5 As shown, sealing one end of the eccentric hose 112 with the third cable tie 14 and connecting the other end to the air tube 15 forms an initial soft robot capable of bending and deformation, such as... Figure 11 As shown, when a gas with a pressure of 72 kPa is filled into the soft robot, the soft robot undergoes unidirectional bending deformation.

[0047] 5. The second elastomer fiber 211 is a modified SEBS fiber with a Shore hardness of 60A. The hardness of the second elastomer fiber 211 is greater than that of the first elastomer fiber 111, allowing the second elastomer fiber 211 to exert a deformation restraint effect on the first elastomer fiber 111. Simultaneously, the high hardness of the material results in poor flowability, preventing significant flow during secondary heating; the fiber diameter d = 1.2 mm. Figure 7 As shown, a second elastomer fiber 211 is spirally woven on the circumferential surface of the eccentric hose 112 at a preset pitch S = 2.4 mm interval to produce an excellent bending-torsion composite deformation effect. One end of the second elastomer fiber 211 is fixed to one end of the stainless steel rod 10 by a fourth cable tie 22, and the other end is spirally wound along the length of the stainless steel rod 10 at intervals on the surface of the first elastomer fiber 111 to a second preset length. Then, the other end is fixed to the other end of the stainless steel rod 10 by a fifth cable tie 23 and then heated and melted.

[0048] 6. The braided eccentric hose 112 and the second elastomer fiber 211 are heated at a second temperature T2 of 195 ℃ for 4 minutes to melt and bond the second thermoplastic elastomer fiber 211 to the surface of the eccentric hose 112 to form a whole. The preset first time t1 is greater than or equal to the preset second time t2 to prevent the eccentric hose 112 and the second elastomer fiber 211 from flowing during the second heating. The temperatures T1 and T2 depend on the melting temperature and degree of melting of the material. The specific T and t are determined according to the type of thermoplastic elastomer and the fiber diameter selected.

[0049] 7. For example Figure 8As shown, after stopping heating and cooling to room temperature, demold the robot. Seal one end of the eccentric hose 112 with the sixth cable tie 24, heat fusion sealing or mechanical end cap to obtain the soft robot. Connect the other end of the eccentric hose 112 of the soft robot to the air pipe 25 through the embedded connector, quick connector or threaded connector. Inflate the soft robot through the air pipe 25 to achieve bending-torsion composite deformation.

[0050] 8. For example Figure 12 As shown, the soft robot is inflated through the trachea 25, and the gas pressure needs to reach 72 kPa. While the soft robot bends due to the eccentric effect, it also generates torsional deformation caused by the helical constraint of the second elastic fiber 211, thereby realizing the bending-torsion composite deformation.

[0051] Example 1 is a preferred example.

[0052] Example 2:

[0053] 1. The first elastomer fiber 111 is a modified copolymer SEBS fiber with a Shore hardness of 30A. The modified SEBS fiber is a styrene-ethylene-butene-styrene block copolymer fiber, which is a modified material of thermoplastic elastomer. The fiber diameter d = 1.0 mm. The stainless steel rod 10 is selected with a diameter D = 1.0 mm and a circular cross-section.

[0054] 2. The first elastic fiber 111 is tightly spirally woven on the circumference of the horizontally arranged stainless steel rod 10. One end of the first elastic fiber 111 is fixed to one end surface of the stainless steel rod 10 by the first cable tie 12, and the other end is spirally wound along the length of the stainless steel rod 10 without intervals until the second preset length. Then the other end is fixed to the other end surface of the stainless steel rod 10 by the second cable tie 13 and then heated and melted. The first preset length L = 5 cm.

[0055] 3. Place the woven stainless steel rod 10 horizontally in an oven and heat it for 5 minutes at a preset first temperature T1 of 215 ℃. This allows the modified SEBS fibers to melt and flow and converge below the stainless steel rod 10 under gravity, gradually forming a wall thickness difference, thus obtaining an eccentric hose 112 with a wall thickness difference of 0.5 mm.

[0056] 4. After stopping the heating of the eccentric hose 112 and cooling it to room temperature, demold it. Figure 5 As shown, at this time, one end of the eccentric hose 112 is sealed with the third cable tie 14, and the other end is connected to the air tube 15 to form an initial soft robot that can be bent and deformed. When gas with a pressure of 65 kPa is filled into the soft robot, the soft robot produces unidirectional bending deformation.

[0057] 5. The second elastomer fiber 211 is a modified SEBS fiber with a Shore hardness of 60A and a fiber diameter of d = 1.0 mm. The second elastomer fiber 211 is spirally woven on the circumference of the eccentric hose 112 at a preset pitch S = 2.0 mm interval to produce an excellent bending-torsion composite deformation effect. One end of the second elastomer fiber 211 is fixed to one end of the stainless steel rod 10 with the fourth cable tie 22. The other end is spirally wound along the length of the stainless steel rod 10 at intervals on the surface of the first elastomer fiber 111 to the second preset length. The other end is then fixed to the other end of the stainless steel rod 10 with the fifth cable tie 23 before being heated and melted.

[0058] 6. Heat the braided eccentric hose 112 and the second elastomer fiber 211 at a second temperature T2 of 195 ℃ for 4 minutes, so that the second thermoplastic elastomer fiber 211 melts and combines with the surface of the eccentric hose 112 to form an integral whole.

[0059] 7. After stopping heating and cooling to room temperature, demold the robot. Seal one end of the eccentric hose 112 with the sixth cable tie 24, heat fusion sealing or mechanical end cap to obtain the soft robot. Connect the other end of the eccentric hose 112 of the soft robot to the air pipe 25 through the embedded connector, quick connector or threaded connector. Inflate the soft robot with air through the air pipe 25 to achieve bending-torsion composite deformation.

[0060] 8. Inflate the soft robot through the air tube 25. The gas pressure needs to reach 70 kPa. While the soft robot bends due to the eccentric effect, it also generates torsional deformation caused by the helical constraint of the second elastic fiber 211, thereby realizing the bending-torsion composite deformation.

[0061] Example 3:

[0062] 1. The first elastomer fiber 111 is a modified copolymer SEBS fiber with a Shore hardness of 30A. The modified SEBS fiber is a styrene-ethylene-butene-styrene block copolymer fiber, which is a modified material of thermoplastic elastomer. The fiber diameter d = 1.75 mm. The stainless steel rod 10 is selected with a diameter D = 2.0 mm and a circular cross-section.

[0063] 2. The first elastic fiber 111 is tightly spirally woven on the circumference of the horizontally arranged stainless steel rod 10. One end of the first elastic fiber 111 is fixed to one end surface of the stainless steel rod 10 by the first cable tie 12, and the other end is spirally wound along the length of the stainless steel rod 10 without intervals until the second preset length. Then the other end is fixed to the other end surface of the stainless steel rod 10 by the second cable tie 13 and then heated and melted. The first preset length L = 10 cm.

[0064] 3. Place the woven stainless steel rod 10 horizontally in an oven and heat it for 5 minutes at a preset first temperature T1 of 215 ℃. This allows the modified SEBS fibers to melt and flow and converge below the stainless steel rod 10 under gravity, gradually forming a wall thickness difference, thus obtaining an eccentric hose 112 with a wall thickness difference of 1.0 mm.

[0065] 4. After stopping the heating of the eccentric hose 112 and cooling it to room temperature, demold it. Figure 5 As shown, at this time, one end of the eccentric hose 112 is sealed with the third cable tie 14, and the other end is connected to the air tube 15 to form an initial soft robot that can bend and deform. When gas with a pressure of 85 kPa is filled into the soft robot, the soft robot produces unidirectional bending deformation.

[0066] 5. The second elastomer fiber 211 is a modified SEBS fiber with a Shore hardness of 60A and a fiber diameter of d = 2.0 mm. The second elastomer fiber 211 is spirally woven on the circumference of the eccentric hose 112 at a preset pitch S = 4.0 mm interval to produce an excellent bending-torsion composite deformation effect. One end of the second elastomer fiber 211 is fixed to one end of the stainless steel rod 10 with the fourth cable tie 22. The other end is spirally wound along the length of the stainless steel rod 10 at intervals on the surface of the first elastomer fiber 111 to the second preset length. The other end is then fixed to the other end of the stainless steel rod 10 with the fifth cable tie 23 before being heated and melted.

[0067] 6. Heat the braided eccentric hose 112 and the second elastomer fiber 211 at a second temperature T2 of 195 ℃ for 4 minutes, so that the second thermoplastic elastomer fiber 211 melts and combines with the surface of the eccentric hose 112 to form a whole.

[0068] 7. After stopping heating and cooling to room temperature, demold the robot. Seal one end of the eccentric hose 112 with the sixth cable tie 24, heat fusion sealing or mechanical end cap to obtain the soft robot. Connect the other end of the eccentric hose 112 of the soft robot to the air pipe 25 through the embedded connector, quick connector or threaded connector. Inflate the soft robot with air through the air pipe 25 to achieve bending-torsion composite deformation.

[0069] 8. Inflate the soft robot through the air tube 25. The gas pressure needs to reach 80 kPa. While the soft robot bends due to the eccentric effect, it also generates torsional deformation caused by the helical constraint of the second elastic fiber 211, thereby realizing the bending-torsion composite deformation.

[0070] The bending and deforming soft robot manufactured by this invention is a common flexible basic unit that can be arranged in a circular array to form a flexible gripper to grasp objects. The manufactured bending-torsion composite deforming soft robot can be connected in series. This series structure can fit a preset three-dimensional spatial curve, thereby achieving flexible obstacle avoidance and navigation in complex unstructured environments or conformal detection of deep cavities.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. For example, the rigid fiber spiral weaving can be changed to cross weaving, or the horizontal rotational weaving can be replaced with other weaving methods. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for manufacturing a soft robot using rotary weaving, characterized in that, include: Step S1: The first elastomer fiber (111) is tightly spirally woven on the circumference of a horizontally arranged stainless steel rod (10). The diameter D of the stainless steel rod (10) is ≥1.0 mm. The first elastomer fiber (111) is heated at a preset first temperature T1 for a preset first time t1, so that the first elastomer fiber (111) melts and converges under the action of gravity to the bottom of the stainless steel rod (10) to form an eccentric hose (112) with uneven wall thickness. The heating is stopped and the hose is cooled to room temperature. Step S2: The second elastomer fiber (211) is spirally braided at intervals on the circumferential surface of the eccentric hose (112). The second elastomer fiber (211) is heated at a preset second temperature T2 for a preset second time t2, so that the second elastomer fiber (211) melts and combines with the surface of the eccentric hose (112) to form a whole. After heating is stopped and cooled to room temperature, it is demolded. The preset first temperature T1 is greater than the preset second temperature T2. The preset first time t1 is greater than or equal to the preset second time t2 to prevent the eccentric hose (112) and the second elastomer fiber (211) from flowing during the second heating. The first elastomer fiber (111) and the second elastomer fiber (211) are elastomer fibers with thermoplastic properties; Step S3: Seal one end of the eccentric hose (112) to obtain a soft robot. Connect the other end of the eccentric hose (112) of the soft robot to the air tube (25). Inflate the soft robot through the air tube (25). The soft robot bends due to the eccentric effect and generates torsional deformation caused by the helical constraint of the second elastic fiber (211) to achieve bending-torsion composite deformation.

2. The rotary weaving manufacturing method for a soft robot according to claim 1, characterized in that: In step S1, one end of the first elastomeric fiber (111) is fixed to one end surface of the stainless steel rod (10), and the other end is spirally wound along the length direction of the stainless steel rod (10) without intervals to the second preset length, and then the other end is fixed to the other end surface of the stainless steel rod (10) before being heated and melted.

3. The rotary weaving manufacturing method for a soft robot according to claim 1, characterized in that: In step S1, the cross-section of the stainless steel rod (10) is circular or semi-circular.

4. The rotary weaving manufacturing method for a soft robot according to claim 2, characterized in that: In step S2, one end of the second elastomeric fiber (211) is fixed to one end of the stainless steel rod (10), and the other end is spirally wound along the length of the stainless steel rod (10) at intervals on the surface of the first elastomeric fiber (111) to a second preset length. Then the other end is fixed to the other end of the stainless steel rod (10) and then heated and melted. The first preset length is greater than the second preset length.

5. The rotary weaving manufacturing method for a soft robot according to claim 1, characterized in that: In step S2, the second elastomer fiber (211) is spirally wound and woven at a preset pitch P, where the preset pitch P is 1.5 to 3.0 times the diameter of the second elastomer fiber (211).

6. The rotary weaving manufacturing method for a soft robot according to claim 1, characterized in that: In step S2, the thermoplastic elastomer fibers include thermoplastic polyurethane fibers (TPU) and modified copolymer fibers (SEBS).

7. The rotary weaving manufacturing method for a soft robot according to claim 1, characterized in that: In step S2, the hardness of the second elastomer fiber (211) is greater than that of the first elastomer fiber (111). The Shore hardness of the first elastomer fiber (111) is 10A-40A, and the Shore hardness of the second elastomer fiber (211) is 60A-90A.

Images