Design and Control of Dual-Segment Multi-Wire Driven Bionic Soft Arm with Integrated Suction Cups

Area of Science:

• Robotics
• Biomimetics
• Marine Engineering

Background:

• Traditional rigid robotic arms face limitations in complex underwater operations.
• Need for adaptable and robust manipulation in dynamic aquatic environments.

Purpose of the Study:

• To develop a soft robotic arm mimicking octopus tentacles for improved underwater manipulation.
• To enhance grasping stability and operational efficiency in challenging marine conditions.

Main Methods:

• Designed a soft robotic arm with a dual-segment continuous structure and eight-wire drive control.
• Integrated biomimetic suckers inspired by octopus tentacles.
• Developed a 3D, dual-segment, eight-wire driven segmented constant curvature motion model.

Main Results:

• The soft robotic arm demonstrated enhanced grasping stability in underwater experiments.
• Successfully coped with fluid disturbances and captured dynamic objects.
• Significantly improved reliability and efficiency of underwater operations.

Conclusions:

• The octopus-inspired soft robotic arm offers a viable solution for complex underwater tasks.
• Biomimetic design and advanced motion control enhance robotic performance in aquatic environments.
• This technology has the potential to revolutionize underwater exploration and operations.