Abstract:
For soft robots, establishing accurate models is the key to research. The traditional modeling methods are based on the ideal conditions, and the physical properties of t...Show MoreMetadata
Abstract:
For soft robots, establishing accurate models is the key to research. The traditional modeling methods are based on the ideal conditions, and the physical properties of the materials in the actual modeling are not considered, and the accuracy and complexity of the model are unsatisfactory. Therefore, it is necessary to further analyze and study the kinematics model of the soft robot. So this paper is inspired by the flexible wrist arm of the octopus in the ocean. It proposes a modular-based modeling idea, establishes the physical model of a single module in SolidWorks software, and the model is transformed into MATLAB to build a soft robot model, and then transforms the model into Matlab to build a soft robot model. And give a certain force and control signal. Through the simulation analysis of the four-arm soft robot, it is found that the flexible arm model can follow the given control signal, achieve stable output, and walk a certain distance, thus verifying the accuracy of the modular modeling idea.
Date of Conference: 04-09 August 2019
Date Added to IEEE Xplore: 23 March 2020
ISBN Information: