基于液-气转化机制软体机械手的设计与位置控制

doi:10.3901/JME.2022.18.205

机械工程学报 ›› 2022, Vol. 58 ›› Issue (18): 205-217.doi: 10.3901/JME.2022.18.205

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基于液-气转化机制软体机械手的设计与位置控制

孙敏洁¹, 陈松雨¹, 李军锋¹, 黄永安²

1. 武汉理工大学机电工程学院武汉 430070;
2. 华中科技大学机械科学与工程学院数字制造装备与技术国家重点实验室武汉 430074

收稿日期:2021-10-08 修回日期:2022-01-22 出版日期:2022-09-20 发布日期:2022-12-08
通讯作者: 李军锋(通信作者)，男，1984年出生，博士，副教授，硕士研究生导师。主要研究方向为连续体与软体机器人、机器人系统及智能装备开发。E-mail：jflichina@whut.edu.cn
作者简介:孙敏洁,男,1995年出生。主要研究方向为软体机器人;E-mail:1365024699@qq.com;陈松雨,男,1998年出生。主要研究方向为介电弹性体驱动器、软体机器人;E-mail:553053802@qq.com;黄永安,男,1980年出生,博士,教授、博士研究生导师。主要研究方向为柔性电子系统、柔性电子制造和软体机器人;E-mail:yahuang@hust.edu.cn
基金资助:
国家国防科工资局稳定(HTKJ2021KL502011)和国家自然科学基金(51925503)资助项目。

Design and Control of Soft Manipulator Based on the Liquid-vapor Transition Mechanism

SUN Minjie¹, CHEN Songyu¹, LI Junfeng¹, HUANG Yongan²

1. School of Mechanical and Electronical Engineering, Wuhan University of Technology, Wuhan 430070;
2. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074

Received:2021-10-08 Revised:2022-01-22 Online:2022-09-20 Published:2022-12-08

摘要/Abstract

摘要： 针对现有软体机械手存在形变模型不准确、操作空间小和位置控制精度低等问题，设计出一种液-气相变驱动三关节软体机械手并进行了相应的形变改进模型分析与运动控制试验。建立一种考虑温度与材料自重因素的硅胶形变非线性力学模型且基于该模型完成了机械手的弯曲性能分析，建立三关节机械手末端操作空间的数学模型。而后基于传统刚性机械手的运动学逆解算法，提出一种基于最小驱动能量函数的运动学逆解方法来确定机械手各关节的弯曲角度。通过最小驱动能量函数并利用神经网络算法策略实现了三关节软体机械手末端轨迹的稳定控制，其相对位置距离偏差小于2.8%。通过充分的试验和理论分析，为液-气相变转化驱动软体机械手的后期实际应用提供了理论支撑。

关键词: 软体机械手, 液-气相变驱动器, 位置控制

Abstract: Traditional soft manipulators demonstrate several shortcomings, such as small working space, inaccurate deformation model and position tracking control. In this paper, a three-joint soft manipulator based on liquid-vapor actuator is fabricated, modeled and tested. Firstly, a nonlinear mechanical model considering the gravity and temperature of the silicone material is proposed to achieve accurate bending model of the manipulator. The working space of the manipulator is analyzed using D-H coordinate method. Secondly, a kinematics inverse solution method based on the minimum actuating energy function is used to determine the bending angel of each join for the manipulator. Finally, a hybrid control strategy by combining the minimum actuating energy function and radial basis function neural network is developed to control the position of manipulator. The experimental results demonstrate that the proposed method leads to accurate position tracking results. In conclusion, the design and control method proposed in this paper may provide an alternative to soft manipulators in the future.

Key words: soft manipulator, actuator based on liquid-vapor mechanism, position tracking control

中图分类号:

TP241

孙敏洁, 陈松雨, 李军锋, 黄永安. 基于液-气转化机制软体机械手的设计与位置控制[J]. 机械工程学报, 2022, 58(18): 205-217.

SUN Minjie, CHEN Songyu, LI Junfeng, HUANG Yongan. Design and Control of Soft Manipulator Based on the Liquid-vapor Transition Mechanism[J]. Journal of Mechanical Engineering, 2022, 58(18): 205-217.

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基于液-气转化机制软体机械手的设计与位置控制

Design and Control of Soft Manipulator Based on the Liquid-vapor Transition Mechanism

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