磁致变刚度原理的气动软体致动器设计与试验

doi:10.3901/JME.2023.03.001

机械工程学报 ›› 2023, Vol. 59 ›› Issue (3): 1-12.doi: 10.3901/JME.2023.03.001

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磁致变刚度原理的气动软体致动器设计与试验

李特, 崔博尧, 刘海波, 李峪锌, 张国庆, 曾繁练, 王永青

大连理工大学精密与特种加工教育部重点实验室大连 116024

收稿日期:2022-03-19 修回日期:2022-12-09 出版日期:2023-02-05 发布日期:2023-04-23
通讯作者: 刘海波(通信作者),男,1983 年出生,博士,教授,硕士研究生导师。主要研究方向为测量-加工一体化、数字化精密测量等。E-mail:hbliu@dlut.edu.cn
作者简介:李特,男,1987年出生,博士,副教授,硕士研究生导师。主要研究方向为仿生/特种机器人、深软体机器人、装备智能控制等。E-mail:teli@dlut.edu.cn;崔博尧,男,1996年出生,硕士研究生。主要研究方向为变刚度软体机器人。E-mail:cuiboyao@mail.dlut.edu.cn;李峪锌,男,1999年出生,硕士研究生。主要研究方向为软体机器人、软体3D打印。E-mail:2540105554@mail.dlut.edu.cn;张国庆,男,1999年出生,硕士研究生。主要研究方向为软体机器人。E-mail:gqzhang@mail.dlut.edu.cn;曾繁练,男,2001年出生。主要研究方向机器人运动控制。E-mail:lietianfeitian@163.com;王永青,男,1969年出生,博士,教授,博士研究生导师,长江学者特聘教授。主要研究方向为测量-加工一体化制造理论与技术、智能机电装备与系统、装备在机测量理论与技术等。E-mail:yqwang@dlut.edu.cn
基金资助:
国家自然科学基金(51805071)、中央高校基本科研业务费专项资金(DUT22GF301)和大连市青年科技之星(2019RQ026)资助项目。

Design and Experiment of a Soft Pneumatic Actuator with Variable Stiffness by Magnetic-induced

LI Te, CUI Boyao, LIU Haibo, LI Yuxin, ZHANG Guoqing, ZENG Fanlian, WANG Yongqing

Key Laboratory for Precision & Non-traditional Machining of Ministry of Education, Dalian University of Technology, Dalian 116024

Received:2022-03-19 Revised:2022-12-09 Online:2023-02-05 Published:2023-04-23

摘要/Abstract

摘要： 软体机器人友好的人机交互特性使其在柔性抓取、生物医疗等领域有着广泛的应用前景。针对软体机器人"柔有余而刚不足"的缺陷,提出了一种具有快速、可逆变刚度能力的磁气混合驱动软体致动器。基于磁流变效应,设计了以磁流变弹性体材料作为基体的单自由度纤维增强型磁气混合软体致动器,并给出了软体致动器的浇注制造工艺。构建了磁-力耦合模型,分析磁流变弹性体中的刚度影响关系。基于自主开发的刚度测试平台,试验结果表明:设计开发的软体致动器可以在气压和磁场作用下实现可变刚度混合驱动,通过增加磁场强度可以明显提升软体致动器的刚度,最高可提高约40%。软体致动器末端位置控制实验结果表明:通过磁场激励作用,可将软体致动器携带负载的位姿保持能力提高1.4倍,具有动载荷下的位置保持驱动能力,调节响应时间小于1.5 s。

关键词: 软体机器人, 变刚度, 磁流变效应, 气动驱动

Abstract: The friendly human-computer interaction characteristics of the soft robot have a wide range of application prospects in the field of flexible crawling, biomedical. A magnetic and pneumatic soft actuator with fast, reversible stiffness capability is proposed for the defects of the soft robot "low stiffness". Based on the magnetorheological effect, the single-degree-of-freedom fiber reinforced magnetic soft actuator is designed as a matrix of magnetorheological elastomer. The soft actuator is manufactured by silica gel casting. The magnetic-force coupling model is constructed, and the stiffness response is analyzed in the magnetorheological elastomer. The test results on the developed stiffness test platform show that the effect of the soft actuator on the stiffness in the application of the air pressure and the magnetic field is independent, and the impact of the stiffness of the air pressure can be ignored, and the magnetic field strength increases to improve the stiffness of the actuator, which is up to about 40%. By performing an actuator end position control experiment, the results show that by exciting the effect of the magnetic field, the capacity of the actuator carries the load holding position can be increased by 1.4 times. There is a fast response to load and withdrawal. The adjustment response time is less than 1.5 s.

Key words: soft robot, variable stiffness, magnetorheological effect, pneumatic actuator

中图分类号:

TP242

李特, 崔博尧, 刘海波, 李峪锌, 张国庆, 曾繁练, 王永青. 磁致变刚度原理的气动软体致动器设计与试验[J]. 机械工程学报, 2023, 59(3): 1-12.

LI Te, CUI Boyao, LIU Haibo, LI Yuxin, ZHANG Guoqing, ZENG Fanlian, WANG Yongqing. Design and Experiment of a Soft Pneumatic Actuator with Variable Stiffness by Magnetic-induced[J]. Journal of Mechanical Engineering, 2023, 59(3): 1-12.

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磁致变刚度原理的气动软体致动器设计与试验

Design and Experiment of a Soft Pneumatic Actuator with Variable Stiffness by Magnetic-induced

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