气动软体机械臂模块变刚度性能分析

doi:10.3901/JME.2020.09.036

机械工程学报 ›› 2020, Vol. 56 ›› Issue (9): 36-44.doi: 10.3901/JME.2020.09.036

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气动软体机械臂模块变刚度性能分析

姚立纲, 李敬仪, 东辉

福州大学机械工程及自动化学院福州 350116

收稿日期:2019-05-30 修回日期:2019-08-12 出版日期:2020-05-05 发布日期:2020-05-29
通讯作者: 东辉(通信作者),女,1985年出生,博士,副教授。主要研究方向为医疗康复机器人和机器人运动学及控制算法。E-mail:hdong@fzu.edu.cn
作者简介:姚立纲,男,1964年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构及机械传动学、康复机器人、现代设计方法、复杂曲面建模及精确制造。E-mail:ylgyao@fzu.edu.cn
基金资助:
国家自然科学基金（51605092）、福建省科技厅（2014H2004）、福建省科技厅面上（2017J01691）和福建省教育厅青年（JAT160055）资助项目。

Variable Stiffness Analysis on a Pneumatic Soft Manipulator

YAO Ligang, LI Jingyi, DONG Hui

School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116

Received:2019-05-30 Revised:2019-08-12 Online:2020-05-05 Published:2020-05-29

摘要/Abstract

摘要： 根据现有的气动软体机械臂的特征，为解决软体机械臂存在的结构刚度不足的问题，提出了一种软体机械臂模块。该模块采用耦合变刚度原理，由上下两端连接板、位于两连接板之间的外部弯曲硅胶气囊和中部变刚度硅胶气囊组成，可实现连续软体机械臂的模块化和变刚度，提升软体机械臂的负载能力。基于硅胶的超弹性材料特征，建立了新型软体机械臂模块的非线性力学模型并通过该模型完成了变刚度性能分析。在充分考虑各硅胶气囊的驱动力矩和模块的弯曲运动的基础上，设计了静态拉伸试验，对模块的变刚度气囊通过施加冗余驱动力矩来实现变刚度的效果进行了分析。通过试验与论证，总结出了模块充气压强与模块结构的刚度之间的变化规律，为气动软体机械臂刚度的计算和这种模块的实际应用提供了理论支持。

关键词: 软体机械臂, 模块化设计, 变刚度, 非线性力学

Abstract: For solving the defect of insufficient structural stiffness in soft manipulator, a module of pneumatic soft manipulator is designed according to the characteristics of currently soft manipulator. The module is designed by variable stiffness principle of coupling and consist of two connecting plates at the upper and lower ends, bending chambers between in the two plates and variable stiffness chamber in the middle. It can realize modularity, stiffness adjustment and load capacity in this continuum soft manipulator. Based on the hyperelastic material characteristics of silicone, a non-linear mechanical model suitable for pneumatic soft manipulator is established for analyzing the variable stiffness. Combining with the torques of the chambers and actual bending process of the module, this paper designed a static tensile test for evaluating the performance of variable stiffness chamber by applying redundant driving moment. Through the experiment and demonstration, the mapping relation between the inflatable pressure and the stiffness of the module is obtained, which provides the mechanical theory support for the stiffness calculation of the pneumatic soft manipulator and the practical application of the module.

Key words: soft manipulator, modular design, variable stiffness, non-linear mechanics

中图分类号:

TP242

姚立纲, 李敬仪, 东辉. 气动软体机械臂模块变刚度性能分析[J]. 机械工程学报, 2020, 56(9): 36-44.

YAO Ligang, LI Jingyi, DONG Hui. Variable Stiffness Analysis on a Pneumatic Soft Manipulator[J]. Journal of Mechanical Engineering, 2020, 56(9): 36-44.

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气动软体机械臂模块变刚度性能分析

Variable Stiffness Analysis on a Pneumatic Soft Manipulator

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