Design and Control of Dual-Segment Multi-Wire Driven Bionic Soft Arm with Integrated Suction Cups

Abstract

Given the growing complexity of underwater operation tasks, particularly in confined spaces, turbulent environments, and dynamic object manipulation, the limitations of traditional rigid robotic arms are becoming ever more evident. To tackle these challenges, this paper proposes the development of a soft robotic arm modeled after octopus tentacles, incorporating biomimetic suckers. To tackle these challenges, this paper proposes the development of a soft robotic arm modeled after octopus tentacles, incorporating biomimetic suckers. By imitating the functional structure and suction cups of an octopus arm, a soft arm with a dual-segment continuous structure and eight-wire drive control is designed, integrating a flexible suction cup at the distal segment. A three-dimensional, dual-segment eight-wire driven segmented constant curvature motion model is developed to enable precise bending and rotational movements. In underwater grasping experiments, the soft robotic arm exhibited enhanced grasping stability, particularly in underwater environments, where it effectively copes with fluid disturbances and the capture of dynamic objects. This substantially increased the reliability and efficiency of underwater operations.