一种新型螺旋变形软体驱动器建模方法及应用

软体驱动器的变形方式主要为弯曲、伸缩变形，限制了软体驱动器的灵活性。为了提高软体驱动器的操作灵活性，提出一种新型的螺旋扭转变形软体驱动器。通过拉线驱动软体变形，骨架限制驱动器产生螺旋变形，实现驱动器末端在三维空间中的可控运动。基于常曲率连续软体运动学理论及螺旋扭转变形的几何关系，建立了一种适用于常曲率螺旋变形运动学模型，获取在全局坐标系下驱动器末端的坐标变换矩阵，实现对驱动器位姿的描述。通过仿真和实验数据验证，模型精度大于98%。为螺旋扭转变形驱动器的控制建立精确的运动学模型，为未来基于此软体驱动器的超高灵活性抓手的搭建提供了理论模型基础。

Modeling method and application of a novel helix deformation soft actuator

The soft actuator has great development potential in the fields of medical care, rescue, service, and manufacturing with the advantages of a high degree of flexibility and good adaptability. Currently, the deformation types of the soft actuator are mainly bending, expansion and contraction, which limits the greater flexibility of the soft actuator. To improve the operation of the soft actuator, a new type of soft actuator with helical deformation is proposed. The proposed soft actuator is driven by the pulling cable, and the helical deformation is generated by the scaffold so as to realize the controllable movement of the soft actuator end in three-dimensional space. Based on the kinematics theory of constant curvature continuous robot and the geometric relationship of helical deformation, a kinematic model for constant curvature helical deformation is developed to obtain the coordinate transformation matrix of the actuator end in the global coordinate. Simulation and experiments show that the model accuracy is greater than 98%. By presenting an accurate kinematics model for the helical deformation soft actuator, this study provides a theoretical model basis for the construction of the ultra-high flexibility gripper based on this actuator in the future.