Soft robots are made of soft materials and have good flexibility and infinite degrees of freedom in theory. These properties enable soft robots to work in narrow space and adapt to external environment. In this paper, a 2-DOF soft pneumatic actuator is introduced, with two chambers symmetrically distributed on both sides and a jamming cylinder along the axis. Fibers are used to constrain the expansion of the soft actuator. Experiments are carried out to test the performance of the soft actuator, including bending and elongation characteristics. A soft robot is designed and fabricated by connecting four soft pneumatic actuators to a 3D-printed board. The soft robotic system is then established. The pneumatic circuit is built by pumps and solenoid valves. The control system is based on the control board Arduino Mega 2560. Relay modules are used to control valves and pressure sensors are used to measure pressure in the pneumatic circuit. Experiments are conducted to test the performance of the proposed soft robot.
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机译：软机器是由软材料制成的，具有良好的灵活性和理论上的无限自由度。这些属性使软机器能够在窄空间中工作并适应外部环境。在本文中，引入了一个二进制的软充气致动器，两个腔室对称地分布在两侧和沿轴上的干扰缸。纤维用于约束软致动器的膨胀。进行实验以测试软致动器的性能，包括弯曲和伸长率特性。通过将四个软气动执行器连接到3D印刷板，设计和制造软机器人。然后建立软机器人系统。气动电路由泵和电磁阀构建。控制系统基于控制板Arduino Mega 2560.中继模块用于控制阀门，压力传感器用于测量气动回路中的压力。进行实验以测试所提出的软机器人的性能。
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