Design and Development of Wearable Flexible Mechanical Arm Based on Iterative Learning Control*

In this paper, the concept of "wearable" and "flexible" is combined to design and develop a wearable flexible robot arm, which can realize multi-person collaboration and human-computer interaction by adapting the corresponding end-effector. The main work includes: design and research on the structure and manufacturing process of wearable flexible robotic arm, mainly designing a casting molding process based on spiral compression scheme, and completing the design and manufacturing process of flexible robotic arm; A closed-loop control system for the flexible manipulator was built, and a control strategy based on the combination of iterative learning control and convolutional neural network was proposed. Through model training and simulation, it was proved that the proposed method can effectively improve the control accuracy of the end of the manipulator. An experimental test platform for the robotic arm was built, and related experiments were conducted. The experimental results showed that the wearable flexible robotic arm developed in this paper had a certain degree of completion, its motion effect and control accuracy reached the design expectations, and it had certain application prospects.