Bionic structure design and position control of pneumatic soft robotic arm
气动软体机械臂的仿生结构设计与位置控制研究

摘要

气动软体机械臂以柔顺性和安全性为突出优势，在人机交互及复杂环境操作中展现出广阔应用潜力。本文围绕仿生结构设计与位置控制展开研究，从自然界软体肢体汲取灵感，建立符合生物学特征的气动驱动结构模型，实现机械臂在多自由度运动中的柔性伸展与抓取。针对气动驱动非线性与时滞问题，提出结合力学建模与反馈控制的策略，以提升位姿精度与动态响应性能。研究结果为软体机器人在医疗、服务及危险环境操作等领域的推广应用提供理论依据与技术支持。

Abstract

Pneumatic soft robotic arms, distinguished by their flexibility and safety, demonstrate broad application potential in human-machine interaction and complex environment operations. This study focuses on bionic structure design and position control, drawing inspiration from natural biological limbs to establish a biomechanically compliant pneumatic drive structure model. The developed mechanism enables flexible extension and grasping during multi-degree-of-freedom movements. To address nonlinear dynamics and time delays in pneumatic drive systems, a strategy integrating mechanical modeling with feedback control is proposed to enhance pose accuracy and dynamic response performance. The research findings provide theoretical foundations and technical support for the application of soft robotics in medical services, service industries, and hazardous environment operations.