摘要
针对软体驱动运动学建模的问题,对软体驱动器两气压驱腔耦合驱动、内嵌约束弹簧和施加气压状态下的弯曲运动等方面进行了研究,提出了一种新型的仿生软体驱动器结构,实现在单个方向内前后大角度的弯曲。利用驱动器变形后的几何分析以及力矩平衡方程,建立了软体驱动器的静态模型和主动弯曲数学模型,建立了驱动器输入气压与弯曲角度和弯曲半径二者之间的映射关系;提出了一种电、气联合控制,且基于SMC气压比例阀的实验系统,对软体驱动器进行了输入气压发生弯曲的实验。研究结果表明:在0. 18 MPa的气压范围内,实验结果数据与理论数据基本一致,验证了理论模型的正确性。
Aiming at the problems of modeling soft actuator that are difficult by the conventional way,the multi-cavity coupling structure of soft actuator, the bending reinforcement material and bending deformation under inflatable state were studied, a novel biomimetic soft actuator with multi-cavity and multi-segment coupled structure was proposed. This actuator could achieve a wide range of forward and reverse bending in one direction.The static model and the bending model of the actuator were established.A method was presented to make the experimental platform which base on a way of electro-pneumaticcontrol proportional valve. The results indicate that in the pressure range of 0-0.18 MPa the established bending model according to similar data curve.
作者
许宗贵
方醒
陈凌峰
潘鲁锋
鲍官军
XU Zong-gui;FANG Xing;CHENG Ling-feng;PANG Lu-feng;BAO Guan-jun(School of Mechatronics Engineering,Zhejiang University of Technology,Hangzhou 310014,China)
出处
《机电工程》
CAS
北大核心
2018年第11期1190-1194,共5页
Journal of Mechanical & Electrical Engineering
基金
国家自然科学基金资助项目(51775499
51605434)
北京市智能机器人与系统高精尖研究中心开放基金资助项目(2016IRS03)
