Structure & bending model of longarm biomimetic soft robot

YAO Pengfei1, GAO Tao2,  BAO Guanjun1, LI Kun1, XV Zonggui1, WANG Zhiheng1

(1.College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014,
China;2.China United Engineering Corporation, Hangzhou 310052, China)

Abstract: Aiming at the difficulty of software robot structural analysis, studying on multicavity coupling structure of soft robot, the bending reinforcement material and bending deformation under charging state, a novel longarm biomimetic soft robot with multicavity and multisegment coupled structure was proposed. This structure could achieve large range bending in any direction. Building bending equation and static model based on moment equilibrium at the end of each segment, the approximate numerical solution was obtained for each moment of the basal and tail segment. The prototype of the longarm biomimetic robot was designed and fabricated for experiment and the experimental platform was based on electropneumatic regulator. The results indicate that the established bending model according to similar data curve.

Key words: longarm biomimetic soft robot; static model; bending theory