Design and Analysis of Soft Robot End-effector

In order to improve the complex structure and cumbersome control system of soft robot, the research group designed a spherical flexible end effector of pneumatic driven soft robot, which is suitable for grasping fragile and irregular objects. According to the difference of air pressure in the air chamber of the actuator, the flexible end effector produces different extrusion deformation, and realizes the actions of grasping, putting down and rotating. At the same time, based on Neo-Hookean model, the nonlinear mathematical prediction model of air pressure and actuator is constructed, and the validity of the prediction model is analyzed by finite element simulation. At the same time, a bionic soft mobile robot with simple structure and high flexibility is developed by combining the spherical soft driver with the base.