Design and Modeling of Multifunctional Soft Manipulator

doi:10.3901/JME.2022.09.001

Abstract

Abstract: A novel multi-functional soft manipulator is designed, which consists of two soft fingers and a soft wrist. The soft finger is composed of four parallel bi-directional bending pneumatic soft drivers. The soft wrist is mainly composed of a two axis bi-directional bending pneumatic soft driver. The cooperative action of soft fingers and soft wrists can realize the multi-directional and multi-task operation of soft manipulator. The size parameters of the soft manipulator are designed according to the required range of motion and grasping force. Based on the Euler–Bernoulli beam theory, the Euler beam bending model and cantilever beam bending model of the two bi-directional bending soft drivers are established. The analytical expressions of the bending curvature, bending moment and air pressure of the bi-directional bending soft actuator are obtained, and the bending deformation curve of the bi-directional bending soft driver under load is obtained. The correctness of the above models is verified by the free bending experiments and bending deformation experiment of the bi-directional bending soft driver. The practicability of the soft manipulator is illustrated by the grasping experiment and the lifting experiment.

Key words: soft manipulator, bi-directional bending soft driver, Euler–Bernoulli beam theory, modeling

CLC Number:

TP242

LIU Jiapeng, WANG Jiangbei, ZHAO Wei, FEI Yanqiong. Design and Modeling of Multifunctional Soft Manipulator[J]. Journal of Mechanical Engineering, 2022, 58(9): 1-9.

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