多段可重组软体驱动器的设计与运动学分析仿真

Design and Kinematic Analysis and Simulation of Multi-Segment Reconfigurable Soft Actuator

软体驱动器是软体机器人的核心组成部分,提出了一种可重组的多段式软体驱动器。首先利用气囊单元与柔性骨架相结合,设计了两种类型的可重组软体驱动器,通过采用不同的拼接方式和拼接段数,可得到多种构型的软体机器人,且针对不同构型的软体机器人建立运动学模型,并在仿真平台上进行了仿真验证。此设计与分析为软体机器人的设计与运动学分析提供了新的思路,具有一定的参考价值。

Soft actuator is the core component of soft robot.This paper proposes a reconfigurable multi-segment soft actuator.Firstly,two types of reconfigurable soft actuator are designed by combining airbag unit and flexible skeleton.By adopting different splicing methods and number of splicing segments,multiple configurations of soft robots can be obtained.Kinematics models of different configurations of soft robots are established and verified on the simulation platform.This design and analysis provides a new idea for the design and kinematics analysis of soft robots,and has certain reference significance.