Modeling, Fabrication and Control Optimization Based on Fuzzy PID of Multi-Chamber Flexible Mechanisms

Abstract

This paper focuses on the design and control of multi-chamber flexible mechanisms and explores and controls optimization under pneumatic actuation. Flexible robots, due to the flexibility and adaptability of their materials, demonstrate unique advantages in applications such as underwater operations and precise grasping. In this study, a flexible mechanism based on a three-chamber design is proposed, with a prototype fabricated using 3D printing technology. Both simulation and experimental analyses are conducted to delve into its bending characteristics. The Yeoh model is utilized for the simulation analysis of silicone rubber material, revealing the deformation behavior of the mechanism under different pneumatic pressures. A pneumatic control system based on a microcontroller is developed, and a fuzzy PID control algorithm is introduced to enhance the traditional PID, achieving quicker response times and more precise control outcomes. Experimental results demonstrate that the simulations based on the Yeoh model align well with experimental data, and the improved fuzzy PID algorithm exhibits excellent performance in the complex attitude control of the flexible mechanism. The findings provide significant data support for the application of multi-chamber flexible mechanisms and establish a foundation for future design and control optimization endeavors.