颗粒流驱动变刚度弯曲软体驱动器的设计及运动仿真

摘要/Abstract

摘要： 为提高软体机器人的承载能力，利用颗粒物质兼具流体和阻塞刚化的特性，设计了一种变刚度弯曲软体驱动器。以颗粒物质力学为指导，设计并制造了变刚度弯曲软体驱动器样机。通过试验获得了分别描述颗粒物质和变形腔材料的联合弹塑性模型、Ogden超弹本构模型，提出了软体驱动器运动过程的有限元仿真方法，搭建了变刚度软体驱动器实验平台。实验与仿真获得的弯角误差约为15.6%，利用颗粒阻塞原理可使承载能力提高约1.75倍。

关键词: 软体驱动器, 颗粒流, 变刚度, 阻塞, 运动仿真

Abstract: To improve the carrying capacity of soft robot, a variable stiffness bending soft actuator was designed by utilizing both of the characteristics, flow and jamming of granular matter. A prototype of variable stiffness bending soft actuator was designed and made based on the mechanics of granular matter. Elastoplastic joint model and Ogden hyperelastic constitutive model individually describing the granular matter and the deformation cavity materials were obtained through experiments. Finite element simulation methods of the soft actuator motion processes were proposed. The experimental platform of variable stiffness soft actuator was set up. Bending angle errors obtained by the experiments and simulations are about 15.6%. The carrying capacity may increase about 1.75 times by using granular jamming principle.

Key words: soft actuator, granular flow, variable stiffness, jamming, motion simulation

中图分类号:

TP242

韩奉林1,3李鹏1,3李明辉1,3田亮2,3. 颗粒流驱动变刚度弯曲软体驱动器的设计及运动仿真[J]. 中国机械工程.

HAN Fenglin1,3；LI Peng1,3；LI Minghui1,3；TIAN Liang2,3. Design and Motion Simulation of Variable Stiffness Bending Soft Actuators Driven by Granular Flow[J]. China Mechanical Engineering.

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