Chao Su
The development of soft robots has revolutionized robotic systems by offering compliance, adaptability, and safe interaction with humans and delicate objects. Unlike traditional rigid robots, soft robots leverage deformable materials to achieve complex movements and dexterous manipulation. The design, fabrication, and position control of a novel three-degree-of-freedom (3-DOF) soft robot involve integrating computational modeling, advanced manufacturing techniques, and precise actuation strategies. The key challenge lies in ensuring precise motion control while maintaining the inherent compliance of soft structures. The design of a 3-DOF soft robot begins with computational modeling, where finite element analysis (FEA) is used to predict deformations, stress distributions, and overall system behavior under different actuation inputs. Soft robotic structures often consist of elastomers, such as silicone, due to their high flexibility and durability. The design process includes defining chamber geometries, material properties, and actuation mechanisms to achieve controlled deformations. Bio-inspired structures, such as pneumatic networks and tendon-driven systems, are commonly employed to mimic natural motion, providing smooth and continuous movement.
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