Abstract
With its good flexibility and adaptability to the environment, soft robot has been attached great importance by the majority of researchers in recent years, and is widely used in rehabilitation treatment, flexible grasping and other fields. However, the existing actuators have disadvantages such as single deformation mode, poor flexibility and insufficient environmental adaptability. The reason is that the actuator structure is too simple to meet the complex application scenarios. In this paper, an omnidirectional bending multi-segment soft actuator is proposed, and the parameter analysis and dynamic analysis models are given. Meanwhile, the prestressed modal analysis of the proposed model is carried out to better characterize the dynamic behavior. A numerical study of a climbing motion verifies the novelty and validity of the proposed structure.
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