Scientific Development Research

Pneumatic soft robotic arms, distinguished by their flexibility and safety, demonstrate broad application potential in human-machine interaction and complex environment operations. This study focuses on bionic structure design and position control, drawing inspiration from natural biological limbs to establish a biomechanically compliant pneumatic drive structure model. The developed mechanism enables flexible extension and grasping during multi-degree-of-freedom movements. To address nonlinear dynamics and time delays in pneumatic drive systems, a strategy integrating mechanical modeling with feedback control is proposed to enhance pose accuracy and dynamic response performance. The research findings provide theoretical foundations and technical support for the application of soft robotics in medical services, service industries, and hazardous environment operations.

Pneumatic soft robotic arm; Bionic structure; Position control; Nonlinear modeling