Hongyuan Yang
ABSTRACT
With the rapid development of bionic robot technology, material technology and rapid prototyping technology, compared with the traditional rigid robot, soft robot has high flexibility, good adaptability and natural safe interaction, and has a huge application potential in various fields. This paper designs a soft actuator with multiple degrees of freedom that can achieve multiple spatial deformation motions. It can realize torsion in two directions, swing, elongation and other functions. The main structure of the pneumatic soft actuator studied in this paper is composed of a cylindrical matrix and six air chambers. Two sides of the three datum planes of the equidistant cylinder circle are symmetrically distributed with "groove" air chambers. The air chamber is divided into a semi-cylindrical connected chamber and a circular ridge. We use principle of virtual work and elastic strain energy to establish the kinematic relationship of torsion angle and pressure. The software ABAQUS is used to simulate the soft actuator by Finite Element Analysis.
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