Modeling and Analysis of A Bionic Flexible Arm Inspired by Octopus Arm
作者单位：Institute of Automation Hangzhou Dianzi University
会议名称：《第30届中国控制与决策会议》
会议日期：2018年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported in part by Zhejiang ProvincialNatural Science Foundation (Grant no.LY16F030007) supported by a grant from the China Scholarship Council
关 键 词：Flexible Robot Bionic Arm Nonlinear SolidWorks
摘 要：Compared with traditional robots, flexible robots have higher degrees of freedom and greater flexibility. As one of the sources of inspiration for flexible robots, octopus has very flexible arms, so the imitating octopus arm robot has become the focus of people’s research. In order to analyze the operation of octopus arm, it is very important to establish its model ahead of time. However, the inherent high degree of freedom, underactuation and nonlinearity of octopus arm lead to very difficult modeling of bionic flexible arm. Therefore, according to the physiological structure of the octopus arm, put forward a method of flexible arm geometric segmentation modeling, we use SolidWorks to set up a flexible arm of the physical model, and then import it into Matlab are analyzed, the simulation results show that the flexible manipulator system is established and effective.