Design, modeling, and experiment of a multi-degree-of-freedom pneumatic soft bionic actuator

摘要

Drawing on the driving mechanism of biological muscles and combining the nonlinear hyperelastic characteristics of silicone rubber, a multi-degree-of-freedom pneumatic soft bionic actuator is designed, which can be used as the executing mechanism for soft robots and robotic arms. Using response surface analysis and numerical simulation algorithms, the optimal combination of structural dimensions parameters is determined with the maximum bending and torsion angles output by the actuator as the optimization objectives. Based on the idea of flexible mechanism Piecewise Constant Curvature (PCC) modeling, the kinematics equation of the actuator is derived. Analyze the equivalent motion structure of the actuator and establish a dynamic model of the actuator based on the Lagrange method. The physical model of the actuator is manufactured using rapid prototyping technology. Finally, experimental testing and analysis are conducted on the physical model to obtain the motion and dynamic characteristics curves and empirical formulas of the actuator, which are compared with theoretical and simulation results to verify that the pneumatic soft bionic actuator is feasible and effective. The above research methods, processes, and results can provide reference and inspiration for the research and implementation of pneumatic and hydraulic soft robots and gripping actuators for soft robotic arms.