Abstract：Soft robot, as a new type of flexible robot, is attracting more and more attention. How to build emergency ability in unpredictable environments is the key research goal of soft robot technology. For this problem, an intelligent driving-sensing based motion pattern and system component of semi-soft robot is proposed, and on this basis, the mechanism design configuration of each motion module is designed and established. By coupling the actuators with shape memory alloy drivers into a monolithic structure, dynamic model and kinematics model of robot joints are constituted. According to the model, the key parameters for mechanism design and driver design are determined. Robot shells are manufactured by high strength engineering plastics, and soft enclosure and asymmetric pelma are realized by 3D printing. Two types of alloy wires are fixed in the robot body, the radial basis function (RBF) neural network and support function are used to control the robot, and forward motion is finally tested, which verifies correctness of the proposed robot system model.
史震云, 朱前成. 基于智能驱动器的软体机器人系统[J]. 北京航空航天大学学报, 2016, 42(12): 2596-2602.
SHI Zhenyun, ZHU Qiancheng. Soft robot system based on intelligent driver. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2016, 42(12): 2596-2602.
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2016, Vol. 42 
