三维气动软体驱动器弯曲建模与分析

doi:10.3901/JME.2020.15.157

摘要/Abstract

摘要： 为设计弯曲性能优越的三维气动软体驱动器，针对单腔通气时驱动器的弯曲变形机理，展开了弯曲特性的研究。首先基于Yeoh模型的能量密度分布函数，结合驱动器弯曲时的静力平衡方程，建立驱动气压与驱动器弯曲角度变形的非线性数学模型；其次，通过数学模型分析气腔半径、中心圆半径以及壁厚对弯曲的影响，并通过建立单目标多约束优化模型寻找最优尺寸组合；然后通过有限元仿真，进一步研究两腔通气时驱动器弯曲角、偏转角与末端点坐标的变化规律。最后通过对比理论模型、有限元仿真、样机试验的数据。结果表明：在60 kPa气压的范围内，理论结果、仿真结果与试验结果的表明上述分析参数对弯曲影响的趋势保持一致，从而验证了理论模型的正确性。上述研究为设计气动软体弯曲驱动器提供了可靠的理论基础。

关键词: 气动软体驱动器, 弯曲性能, 变形模型, 优化设计, 有限元仿真

Abstract: In order to efficiently design a three-dimensional pneumatic soft actuator with flexible and excellent bending performance, the bending mechanism of the actuator are studied for the single-chamber structure. Based on the energy density distribution function of the Yeoh model, combining with the static equilibrium equation of the actuator bending, a nonlinear mathematical model between the actuating pressure and the bending angle of the actuator is established. Secondly, the chamber radius, the central circle radius and the wall thickness which effect on bending are analyzed by the mathematical model that searching the optimal size combination of them using the single-objective multi-constraint optimization model. Then, the variation of the bending angle, deflection angle and end point coordinates of the actuator with the two-chamber ventilation is further studied by finite element simulation. Finally, comparing the data of theoretical model, finite element simulation and prototype experiment, it shows that the theoretical results, simulation results and experimental results are basically consistent in the range of 0-60 kPa, which verifies the correctness of the theoretical model. The above studies provide a reliable theoretical basis for designing pneumatic soft bending actuators.

Key words: pneumatic soft actuator, bending performance, deformation model, optimization design, finite element simulation

中图分类号:

TG156

谢荣臻, 黄东煜, 苏满佳, 管贻生, 朱海飞. 三维气动软体驱动器弯曲建模与分析[J]. 机械工程学报, 2020, 56(15): 157-169.

XIE Rongzhen, HUANG Dongyu, SU Manjia, GUAN Yisheng, ZHU Haifei. Modeling and Analysis of 3D Pneumatic Soft Actuator on Bending[J]. Journal of Mechanical Engineering, 2020, 56(15): 157-169.

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