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<p>In this study, the gas-driven mode was selected and the soft body manipulator was designed by integrating the functional mechanisms of octopus grasping and adhesion. The four-section telescopic mechanical arm was designed using a pulley-and-rope driving system. A three-dimensional model was constructed and a finite element simulation analysis was conducted to investigate the influence of the taper angle and the variation in working gas pressure on the bending capability of the soft body gripper. Additionally, the influence of the tilt angle of the mechanical arm on the structural strength and stiffness was examined. The findings indicate that a soft gripper with a taper angle of <i>α</i> = 9°, an operating air pressure of 200 kPa, and a tilting angle of the arm of 30° can achieve the optimal bending and grasping effect of the soft gripper while satisfying the structural strength and stiffness criteria set forth in the design specifications.</p>

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Design and simulation of telescopic picking robot based on octopus-like soft manipulator

  • 期刊论文

  • 发表日期：

    2025年8月22日

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  • Yiwei Xie,
  • Jinjun Li,
  • Anhai Li,
  • Yuning Zhang,
  • Anning Li

摘要

In this study, the gas-driven mode was selected and the soft body manipulator was designed by integrating the functional mechanisms of octopus grasping and adhesion. The four-section telescopic mechanical arm was designed using a pulley-and-rope driving system. A three-dimensional model was constructed and a finite element simulation analysis was conducted to investigate the influence of the taper angle and the variation in working gas pressure on the bending capability of the soft body gripper. Additionally, the influence of the tilt angle of the mechanical arm on the structural strength and stiffness was examined. The findings indicate that a soft gripper with a taper angle of α = 9°, an operating air pressure of 200 kPa, and a tilting angle of the arm of 30° can achieve the optimal bending and grasping effect of the soft gripper while satisfying the structural strength and stiffness criteria set forth in the design specifications.