Design of Heavy-Load Soft Robots Based on a Dual Biomimetic Structure

Abstract

This study first draws inspiration from the dual biomimetic design of plant cell walls and honeycomb structures, drawing on their structural characteristics to design a flexible shell structure that can achieve significant deformation and withstand large loads. Based on the staggered bonding of this flexible shell structure, we propose a new design scheme for a large-load pneumatic soft arm and establish a mathematical model for its flexibility and load capacity. The extension and bending deformation of this new type of soft arm come from the geometric variability of flexible shell structures, which can be controlled through two switches, namely, deflation and inflation, to achieve extension or bending actions. The experimental results show that under a driving pressure within the range of 150 kpa, the maximum elongation of the soft arm reaches 23.17 cm, the maximum bending angle is 94.2 degrees, and the maximum load is 2.83 N. This type of soft arm designed based on dual bionic inspiration can have both a high load capacity and flexibility. The research results provide new ideas and methods for the development of high-load soft arms, which are expected to expand from laboratories to multiple fields.