Design and simulation analysis of terminal execution device of soft worm-like

Soft robots have good adaptability to the environment, good structural softness, high flexibility and other characteristics, which have broad application prospects in medical care, irregular or fragile object clamping, rescue, archaeological investigation and other fields. The terminal execution device of software worm simulation is studied, according to the motion principle of worm, a soft worm-like actuator with bending deformation is designed, the actuator can be combined with a rigid structure and can be applied to related special occasions. In the soft part, a fan-shaped three cavity structure is designed to study the influence on the bending performance of the soft actuator from three aspects: the width of the single-layer air bag, the air bag interval and the air pressure value of each cavity. ANSYS Workbench and MATLAB are used for simulation analysis, so as to design the optimal performance of the software execution part, which provides a theoretical basis for the physical production.