Bending and Wrinkled Model Research of a Soft Robot Inspired by Octopus

摘要

A concise numerical analysis method was proposed in this article, which is for bending and wrinkled model of a soft robot inspired by octopus. According to the curved geometry and simplified model of the soft robot, the bending model of the soft robot is established and the mapping relationship between the elongation of the spring model and the bending parameters (bending directionφ, bending angleθ, bending radiusR <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">0</sub> ) of the robot is obtained. Based on the wrinkled model of the inflatable beam structure, the main cause of failure of the robot under external force was analyzed, the wrinkling, failure and critical state of the robot were defined, and the wrinkled model of the soft robot was established. The experimental platform was built to carry out the wrinkle experiment under external load for the base section.