Pneumatic soft robotic arm has garnered significant attention due to its simple operation, lightweight design, and flexible control. The existing pneumatic soft arms achieve bidirectional or complex bending typically through multi-chamber assembling or complex cavity geometries. In order to achieve customized bending and avoid the complicated fabrication of air cavities, this study introduces an easy-to-manufacture and low cost pneumatic soft robotic arm (PSRA) composed of a cylindrical balloon attached with constraint tapes, inspired by the magical balloon. Under pneumatic actuation, this PSRA can easily achieve 360° bending in the plane, and it is capable of continuously extending in a helical form in space as its length increases. Moreover, various gripping modes and obstacle avoidance functions can be achieved by adjusting the size and location of the constraint tapes on the soft robotic arm. Despite lightweight (1.8 g), it demonstrates exceptional load-bearing capacity, with a load-bearing ratio of 333.3 times to its own weight. Through theoretical, simulation, and experimental investigations, this work systematically analyzes the bending behavior of the PSRA. Additionally, the winding, grasping and obstacle avoidance functions of the PSRA when employing straight and helical constraint tapes, either individually or in combination, are explored. The exceptional deformation capability of the PSRA enables it to be easily adapted for various functions, such as the detection of narrow confined spaces. This study provides a novel approach and guidance for the design of pneumatic soft robotic arms.
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