Modeling and analysis of a bionic flexible arm inspired by octopus arm

Abstract

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.