| abstract |
The invention discloses a modularized soft robotic arm system based on a dielectric elastomer and a control method thereof, belonging to the field of soft robotics. The software manipulator system includes an installation frame, a host computer, a camera, a high-voltage module, a signal acquisition module, and a dielectric elastomer-based modular software manipulator. The camera is used for detecting the pose of the robotic arm, and the high-voltage module includes a voltage generating module, a voltage amplifying module and a power supply module for providing a driving voltage of the robotic arm. The signal acquisition module is used to detect the driving voltage of the manipulator. The described dielectric elastomer-based modular soft manipulator is composed of several soft units connected in series, and each soft unit can achieve axial elongation and bending in any direction under the driving voltage, so the manipulator has super-redundant freedom. Degree, light structure, flexible movement. The present invention can perform real-time attitude control on the software manipulator, and has the advantages of simple operation, strong robustness and good control effect. |