摘要
采用基于Yeoh本构的绝对节点坐标四面体单元对软体驱动器进行建模,并对其进行力学分析。基于应变能密度函数,推导了Yeoh本构模型的弹性力阵及其导数阵;根据虚功原理建立了多腔体气动软体驱动器静力学平衡方程。由于橡胶等超弹性材料不易收敛,采用载荷增量法对静力学平衡方程进行求解。将仿真结果与ABAQUS的仿真结果进行对比,可知随着单元数的增加,绝对节点坐标四面体单元结果与ABAQUS仿真结果趋于一致,验证了绝对节点坐标四面体单元对气动软体驱动器建模的正确性。
This paper adopts the absolute nodal coordinates formulation based on Yeoh constitutive.The nodal coordinate tetrahedron element models the soft driver and conducts mechanical analysis on it.Based on the strain energy density function,the elastic force matrix and its derivative matrix of the Yeoh constitutive model are deduced;the static equilibrium equation of the multi-cavity pneumatic soft actuator is established according to the principle of virtual work;the superelastic materials such as rubber are not easy to converge and so adopt load increments method to solve the statics equilibrium equation.The simulation results are compared with the simulation results of ABAQUS.With the increase of the number of elements,the results of the absolute nodal coordinate tetrahedral element are consistent with the ABAQUS simulation results,which verifies the correctness of the absolute nodal coordinate tetrahedral element for modeling the pneumatic software driver.
作者
陶羽玲
赵春花
鲍康文
Tao Yuling;Zhao Chunhua;Bao Kangwen(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《农业装备与车辆工程》
2021年第9期69-73,79,共6页
Agricultural Equipment & Vehicle Engineering
关键词
绝对节点坐标法
四面体单元
Yeoh本构模型
气动软体驱动器
超弹性材料
absolute nodal coordinates formulation
tetrahedral element
Yeoh constitutive law
pneumatic software driver
hyperelastic material
