Modeling and experimental research on bending and wrinkling of long-arm bio-soft robot

Soft robot is composed of new flexible materials, which has good flexibility, adaptability and super redundant or infinite degree of freedom. It has a wide application prospect in domestic service, disability nursing, and medical rehabilitation. This paper proposed a novel long-arm bio-soft robot. Based on the main causes of the failure, the critical, wrinkling and failure states were defined. The wrinkling model was established on the basis of the inflatable beam structure. The long-arm bio-soft robot experimental platform was built. Through single-cavity bending, multi-cavity coupling bending and wrinkling experiments, the results were consistent with the theoretical model. The bending and wrinkling model were verified and had validity and accuracy.