# Design, Characteristic Analysis and Modeling of a Tailored Soft Robot for Phosphorite Grabbing  
[PERSON]  
1 College of Management, Wuhan Institute of Technology, Wuhan 430205, China; [EMAIL_ADDRESS]  
[PERSON]  
2 School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, China; [EMAIL_ADDRESS] (J.L. ); [EMAIL_ADDRESS] (Z.H.) [PERSON]  
2 School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, China; [EMAIL_ADDRESS] (J.L.) material preparation technology and bionic drive technology, soft robots have become a cutting-edge research direction in the field of intelligent equipment [6; 7]. At present, bionic soft grippers [8], soft bionic fish [9], soft-wing aircraft [10], etc., have been developed. Their inherent flexible characteristics not only ensure the safety of human-machine collaborative operations but also demonstrate unique adaptive advantages in the field of industrial grasping. According to the driving mode of the soft robot, soft robots can be divided into soft pneumatics [11], soft hydraulic robots [12], soft electric robots [10], soft optical robots [13], soft thermal robots [14], soft magnetic robots [15] and so on. Due to the soft actuators of the above robots being made of soft smart materials, these soft robots are termed smart-material-based soft robots [16]. In the field of soft robots, soft smart materials usually include electroactive polymers [17], liquid crystal elastomers [18], shape memory polymers [19], and soft magnetic composite materials [20]. In the field of soft robot technology, the innovative application of intelligent materials shows significant potential for functional expansion. Although intelligent flexible materials represented by shape memory alloys and intermediate polymers can achieve the self-perception of deformation and multi-modal driving functions, their preparation costs are high, and there are engineering and technical problems with complex multi-field coupling response characteristics [21; 22]. Compared with intelligent material-based robots, soft hydraulic robots not only have higher construction costs but also need to meet stringent sealing performance requirements for their core actuators [23], which poses a dual challenge for material processes and system design. Considering the manufacturing cost, process complexity and equipment reliability, pneumatically driven soft robots show stronger potential for engineering applications [24; 25; 26]. Currently, researchers have developed a variety of innovative pneumatic soft-bodied robots, such as bubble casting robots based on compressed air drive to realize controlled deformation [27], bionic robots using pneumatic muscle arrays to achieve agility of movement [28], and multi-environmental adaptability of the turtle-like soft pneumatic devices with multi-environmental adaptability [29]. In the field of industrial gripping, flexible gripping jaw systems based on bellow actuators [30] and adaptive pneumatic manipulators [31] are also gradually being developed. Overall, research on soft pneumatic grippers is just beginning. To the best of our knowledge, the exploration of soft pneumatic grippers when applied to mineral handling is scarce. The mechanical design, characteristic analysis, modeling, and control of the soft pneumatic grippers are facing great difficulties, providing researchers with a large number of research topics. Inspired by the advantages of soft pneumatic robots, the tailored soft robot for phosphoric grabbing (TSRPG) has a huge research value and application potential, which can be used to conduct mineral beneficiation in a safe and efficient way. However, the design and manufacturing of the TSRPG confront difficulties. In addition, to enable the mineral beneficiation of the TSRPG to become flexible and controllable, an urgent problem to be solved is achieving its modeling and control. The most crucial problem is establishing a model of the TSRPG's soft pneumatic actuator (SPA).