Soft robots are concerned by researchers due to several characteristics, such as high adaptability in complex unstructured environments, safe interaction with environments, and a high degree of dexterity. The deformability and dexterity of the octopus arm are remarkable and interesting for the development of bioinspiration soft robots. In this study, we proposed a biomimetic flexible manipulator actuated by shape memory alloy (SMA) wires and its PI controller, and evaluated its performances with focused experiments. This study aims to find out the advantages of the developed manipulator actuated by SMA wires. We designed the bionic structure to achieve flexible bending in 3D space based on the analysis of the octopus muscle structure. Then we built the mathematical models that described the relationship between the bending angle and the driving parameters. Surprisingly, the soft movement capacity of the bionic manipulator was investigated at different heating voltages and PWM duty cycles by the PI controller based on the self-sensing resistance feedback. The soft manipulator was able to bend flexibly with the maximum bending angle of 60°. Compared to the traditional soft arm, the soft manipulator has higher accuracy, with the error of the deflection angle less than 5° and the errors of bending angles less than 2°.

软机器人由于具有在复杂非结构化环境中的高适应性、与环境的安全交互以及高度的灵巧性等特点而受到研究人员的关注。章鱼手臂的可变形性和灵巧性对于生物灵感软机器人的开发是显着和有趣的。在这项研究中，我们提出了一种由形状记忆合金 (SMA) 线及其 PI 控制器驱动的仿生柔性机械手，并通过重点实验评估了其性能。本研究旨在找出所开发的由 SMA 线驱动的机械手的优势。我们基于对章鱼肌肉结构的分析，设计了仿生结构以实现 3D 空间中的柔性弯曲。然后我们建立了描述弯曲角度和驱动参数之间关系的数学模型。令人惊讶的是，基于自感应电阻反馈的 PI 控制器在不同的加热电压和 PWM 占空比下研究了仿生机械手的软运动能力。软机械手能够灵活弯曲，最大弯曲角度为 60°。与传统软臂相比，软机械手精度更高，偏转角误差小于5°，弯曲角度误差小于2°。软机械手能够灵活弯曲，最大弯曲角度为 60°。与传统软臂相比，软机械手精度更高，偏转角误差小于5°，弯曲角度误差小于2°。软机械手能够灵活弯曲，最大弯曲角度为 60°。与传统软臂相比，软机械手精度更高，偏转角误差小于5°，弯曲角度误差小于2°。