Modeling and analysis of soft manipulator considering coupling effect between actuators

The soft manipulator is made of flexible material. Due to its flexibility and strong environmental adaptability, it has broad application prospects in investigation, detection and medical treatment, and has gradually become a research hotspot at home and abroad. Accurate modeling can make better use of the advantages of the soft manipulator. The nonlinear characteristics of the soft material pose a greater challenge for modeling. In this paper, from the perspective of the end constraint of the soft actuator, the interaction between the different soft actuators of the soft manipulator is analyzed, and the static model based on the mutual coupling of the driving cavity is established. The end attitude and force of the soft manipulator under different driving pressures are obtained by simulation. It is verified by experiments that the model error is controlled within 1o with high accuracy.