INVESTIGATION ON THE MOTION MECHANISM AND MULTI-SCENARIO APPLICATION OF MJOMAA

In this study, a multi-joint omnidirectional morphologically adaptive actuator (MJOMAA) is designed, which can achieve omnidirectional bending in the complex space. Soft pneumatic actuator (SPA) with corrugated internal chambers is widely used in various complex environments. In order to improve the bending performance of existing SPA, a MJOMAA with bilateral symmetric winding fibers was fabricated. Through experimental analysis, it was found that for the 90[Formula: see text]mm length actuator, the optimal bending performance can be achieved when the number of turns is selected as 20. The bending performance of single-joint omnidirectional morphologically adaptive actuator (SJOMAA) and MJOMAA was tested separately, and the contact force at the end of the actuator was analyzed in detail. The influence of the angle between the contact point and the SPA end face on the magnitude of the contact force was discussed. And when the angles were 0 ∘ , 10 ∘ , 20 ∘ , and 30 ∘ , the maximum end contact forces of single-joint MJOMAA at 150[Formula: see text]kPa were 2.23[Formula: see text]N, 1.71[Formula: see text]N, 1.63[Formula: see text]N, and 1.12[Formula: see text]N, respectively. The hardware and software platforms for prototype experiments were built respectively, and specific control processes were provided. Based on the MJOMAA structure and omnidirectional bending deformation ability, three types of soft robots were designed and assembled: soft gripper, rehabilitation glove, and soft crawling robot. The specific experimental process was provided, and the results showed that the three types of soft robots have different advantages.