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首页> 外文期刊>International journal of mechanics and materials in design >Design and development of a soft robotic manipulator
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Design and development of a soft robotic manipulator

机译：软机器人操纵器的设计与开发

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摘要

Soft robotic manipulator, which has advantages of low-weight, flexibility, safe physical interaction, shows a wide prospect in both industry and family application. In this paper, a design of pneumatic soft manipulator, in which the modularization concept is adopted, is presented. The soft manipulator is made up of three pneumatic soft actuators stacked in series. The soft actuator is composed of three inflatable bellows, which are connected and constrained by a series of thin rigid plates. The bellows is stretched by the actuation of pressured gas. The cooperation of the bellows and the rigid constraints effect the soft actuator's directional move. The stacking connection of several soft actuators can have a large coverage in space. Based on this design, the kinematic models of the soft actuator as well as the soft manipulator are proposed using piecewise constant curvature method. The elastic coefficient of the actuator, which is necessary in the numerical calculation of the proposed model, is determined experimentally. Finally, the prototype and experimental set up of the soft manipulator are designed and developed. The correctness of the proposed model and the end-repeat positioning accuracy are validated experimentally.
机译：软机器人操纵器，具有低重量，灵活性，安全物理互动的优点，在工业和家庭应用中表现出广阔的前景。本文介绍了一种气动软机械图的设计，其中采用模块化概念。软装载器由三个串联堆叠的气动软执行器组成。软致动器由三个可充气波纹管组成，其被一系列薄的刚性板连接和限制。波纹管通过加压气体的致动而拉伸。波纹管的合作和刚性约束效果柔软的执行器的定向移动。几个软致动器的堆叠连接可以在空间中具有大的覆盖范围。基于这种设计，采用分段恒定曲率法提出了软致动器的运动型号以及软操纵器。实验确定了在所提出的模型的数值计算中是必要的致动器的弹性系数。最后，设计和开发了软操纵器的原型和实验设置。实验验证了所提出的模型的正确性和最终重复定位精度。

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