Bending model of a novel long-arm biomimetic robot

Abstract

Soft robots always have adequate active flexibility, adaptability and redundancy degree of freedom, which could arbitrarily change the shape and size to adapt environment. The paper proposed a novel long-arm biomimetic robot with multi-cavity and multi-segment coupled structure. The long-arm biomimetic robot's bending equation and static model were built based on moment equilibrium at the end of each segment. The approximate numerical solution was acquired for each moment of the basal and tail segment. Prototype of the long-arm biomimetic robot was designed and fabricated for experiment. On the developed experimental testbed, bending experiment was executed. The experimental result verified the established bending model with similar data curve.