Abstract

With the advantages of high flexibility, high safety, and good adhesion and wrapping, soft robots have a wide range of application prospects in complex environments such as automatic production lines and medical surgery. By coupling an active pneumatic drive structure and an interference variable stiffness mechanism, this paper designs a soft robot based on a variable stiffness pneumatic actuator. Based on kinematic analysis and finite element simulation based on the segmented constant curvature method, the Lagrange equations are applied to perform dynamic analysis, which in turn verifies the variable stiffness performance and bending performance of the variable-stiffness soft robotic arm. The soft manipulator adopts the structural design based on 2 mm thickness, jamming mechanism and coupling fiber layer, which can effectively resist 0–2.5 N force without large deviation and be adjustable in the stiffness range of (0.025–0.12) N/mm, under the condition that the vacuum degree does not exceed 80 kPa. The stiff stiffness and bending behavior of the proposed soft manipulator show excellent performance and can be applied to industrial automation, medical devices and other operations.

中文翻译：

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变刚度无损抓取软体机械臂设计与实验

摘要

软体机器人凭借高灵活性、高安全性、良好的粘附包裹性等优点，在自动化生产线、医疗手术等复杂环境中具有广泛的应用前景。通过耦合主动气动驱动结构和干涉变刚度机构，设计了一种基于变刚度气动执行器的软体机器人。基于分段常曲率法的运动学分析和有限元仿真，应用拉格朗日方程进行动力学分析，验证了变刚度软体机械臂的变刚度性能和弯曲性能。软体机械臂采用基于2 mm厚度、卡止机构和耦合纤维层的结构设计，可有效抵抗0~2.5 N力且偏差不大，刚度范围在（0.025~0.12）N/mm可调，在条件是真空度不超过80kPa。所提出的软机械手的刚度和弯曲行为表现出优异的性能，可应用于工业自动化、医疗设备和其他操作。