基于三组测量绳结构的软体机械臂运动检测

For detecting the movement shape of pneumatic soft manipulators, a kinematic parameter detection device was designed with a measure structure of three wires based on wire-drawing encoders. According to piece-wise constant curvature method, the motion detection model was established for soft manipulator with pneumatic modularization. Based on flexible material characteristics of manipulators, the stiffness method was introduced to derive the map from actuation pressure to configuration shape and kinematic parameters precisely. A novel soft manipulator with pneumatic modularization was presented to verify the accuracy of modelling and the device. The presented manipulator was consisted of silicon backbone, motion chambers and connecting plates for modularizing assembly. The relative errors of motion detection model were obtained via derivation and simulation. Finally, the accuracy of modelling and the features of manipulator in actuation, configuration and movement were verified by tests. The results showed that compared with traditional visual tracking method, the designed device achieved the highly precise detection for movement shapes of soft manipulators.