气动网格软体驱动器弯曲变形预测方法

摘要/Abstract

摘要：

气动软体驱动器作为软体机器人的关键构成单元，在气压作用下可以实现弯曲运动，但目前缺乏合适的方法来研究驱动器的弯曲变形。针对该问题，在分析气动网格软体驱动器弯曲变形原理的基础上，建立了驱动器单个气囊弯曲角度的数学模型并对其弯曲特性进行了分析，进一步建立了单腔室驱动器和多腔室驱动器的弯曲变形预测模型，通过有限元仿真和实物实验验证了弯曲变形预测模型的有效性。

关键词: 软体机器人, 气动软体驱动器, 数学模型, 弯曲特性, 多腔室驱动器, 弯曲变形预测

Abstract: As the key components of the soft robot, the pneumatic soft actuators possessed the property of bending motions under the action of air pressure. However, there were lack of proper methods to the research of bending deformation of the actuators. Firstly, based on the analysis of the bending deformation principles of the pneumatic networks with soft actuators, the mathematical model of the single-airbag bending angles was built and the bending characteristics of the soft actuators was analyzed. Secondly, the bending deformation prediction model of the single-chamber and multi-chamber soft actuators was set up. Finally, the availability of the bending deformation prediction model was verified via the finite element simulations and physical experiments respectively.

Key words: soft robot, pneumatic soft actuator, mathematical model, bending characteristic, multi-chamber actuator, bending deformation prediction

中图分类号:

TP242

范需;戴宁;王宏涛;丁龙伟;谢绍辉. 气动网格软体驱动器弯曲变形预测方法[J]. 中国机械工程.

FAN Xu;DAI Ning;WANG Hongtao;DING Longwei;XIE Shaohui . Bending Deformation Prediction Method of Soft Actuators with Pneumatic Networks[J]. China Mechanical Engineering.

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