长臂式仿生软体机器人及其主动弯曲模型

Structure & bending model of long-arm biomimetic soft robot

针对软体机器人结构化分析困难的问题,对软体机器人气腔耦合结构、嵌入式加强材料以及充气状态下的弯曲变形等方面进行了研究,提出了一种新型的长臂式仿生软体机器人结构,该结构为多腔、多节耦合,可以实现任意方向的大范围弯曲。通过力矩平衡方程建立了长臂式仿生软体机器人的静态模型及主动弯曲数学模型,并实现了基节的各个力矩的数值化近似求解。采用上、下位机控制思想,基于ITV气压比例阀搭建了实验平台并设计、制作了软体机器人样机进行测试。研究结果表明,弯曲运动实验结果与仿真曲线基本一致,由此验证了理论模型的正确性。

Aiming at the difficulty of software robot structural analysis,studying on multi-cavity coupling structure of soft robot,the bending reinforcement material and bending deformation under charging state,a novel long-arm biomimetic soft robot with multi-cavity and multi-segment coupled structure was proposed. This structure could achieve large range bending in any direction. Building bending equation and static model based on moment equilibrium at the end of each segment,the approximate numerical solution was obtained for each moment of the basal and tail segment. The prototype of the long-arm biomimetic robot was designed and fabricated for experiment and the experimental platform was based on electro-pneumatic regulator. The results indicate that the established bending model according to similar data curve.